mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-14 03:14:14 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
|
b111277f46 | ||
|
|
0fba33b093 |
50
.gitignore
vendored
50
.gitignore
vendored
@@ -1,30 +1,16 @@
|
||||
venv/
|
||||
.clang-format
|
||||
.DS_Store
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
.idea
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
.vscode*
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
*.clb
|
||||
@@ -33,45 +19,11 @@ a.out
|
||||
*.vcd
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
|
||||
persist
|
||||
board/obj/
|
||||
selfdrive/boardd/boardd
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
selfdrive/proclogd/proclogd
|
||||
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/visiond/visiond
|
||||
selfdrive/loggerd/loggerd
|
||||
selfdrive/loggerd/bootlog
|
||||
selfdrive/sensord/_gpsd
|
||||
selfdrive/sensord/_sensord
|
||||
selfdrive/camerad/camerad
|
||||
selfdrive/camerad/test/ae_gray_test
|
||||
selfdrive/modeld/_modeld
|
||||
selfdrive/modeld/_dmonitoringmodeld
|
||||
selfdrive/ui/ui
|
||||
/src/
|
||||
|
||||
one
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
hyperthneed
|
||||
panda_jungle
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
htmlcov
|
||||
pandaextra
|
||||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
models/*.thneed
|
||||
|
||||
9
.gitmodules
vendored
Normal file
9
.gitmodules
vendored
Normal file
@@ -0,0 +1,9 @@
|
||||
[submodule "panda"]
|
||||
path = panda
|
||||
url = https://github.com/commaai/panda.git
|
||||
[submodule "opendbc"]
|
||||
path = opendbc
|
||||
url = https://github.com/commaai/opendbc.git
|
||||
[submodule "pyextra"]
|
||||
path = pyextra
|
||||
url = https://github.com/commaai/openpilot-pyextra.git
|
||||
12
.travis.yml
Normal file
12
.travis.yml
Normal file
@@ -0,0 +1,12 @@
|
||||
sudo: required
|
||||
|
||||
services:
|
||||
- docker
|
||||
|
||||
install:
|
||||
- docker build -t tmppilot -f Dockerfile.openpilot .
|
||||
|
||||
script:
|
||||
- docker run --rm
|
||||
-v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out
|
||||
tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'
|
||||
@@ -1,664 +0,0 @@
|
||||
dragonpilot 0.8.5-4
|
||||
========================
|
||||
* Added multiple toggles.
|
||||
* Code clean up.
|
||||
* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
|
||||
* Better support for VW MPQ (Thanks to @Saber)
|
||||
|
||||
dragonpilot 0.8.5-3
|
||||
========================
|
||||
* Added Jetson support toggle.
|
||||
* Added Steering Ratio controller.
|
||||
* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.5-2
|
||||
========================
|
||||
* Added black panda simulation toggle.
|
||||
* Added No GPS toggle.
|
||||
* Added No Battery Toggle.
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.5-1
|
||||
========================
|
||||
* Based on openpilot 0.8.5 devel.
|
||||
* 基於 openpilot 0.8.5 devel.
|
||||
* Support 1+3t / C2 / Jetson Xavier NX.
|
||||
* 支持 1+3t / C2 / Jetson Xavier NX.
|
||||
* No White/Grey Panda Support.
|
||||
* 不支持白灰熊.
|
||||
|
||||
dragonpilot 0.8.4-3
|
||||
========================
|
||||
* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
|
||||
* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
|
||||
* 加回舊 ssh 登錄.
|
||||
* Good old ssh key.
|
||||
* 修復本田錯誤. (感謝 @loveloveses)
|
||||
* Fixed Honda bug. (Thanks to @loveloveses)
|
||||
|
||||
dragonpilot 0.8.4-2
|
||||
========================
|
||||
* 加回可調整加速/跟車設定.
|
||||
* Added back Accel/Following Profile.
|
||||
* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* 支持 1+3t (需額外安裝手續)
|
||||
* Support 1+3t (Require additional install procedure)
|
||||
* 支持白/灰熊
|
||||
* Support White/Grey Panda.
|
||||
|
||||
dragonpilot 0.8.4-1
|
||||
========================
|
||||
* 基於 openpilot 0.8.4 devel.
|
||||
* Based on openpilot 0.8.4 devel.
|
||||
|
||||
dragonpilot 0.8.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.1 devel.
|
||||
* Based on latest openpilot 0.8.1 devel.
|
||||
* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
|
||||
* Added REC screen button. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.0 devel.
|
||||
* Based on latest openpilot 0.8.0 devel.
|
||||
* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
|
||||
* Added git error fix. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.1
|
||||
========================
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
|
||||
* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
|
||||
* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
|
||||
* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
|
||||
* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
|
||||
* Use openpilot v0.8 model. (Thanks to @eisenheim)
|
||||
* 加入 0.8 測試版的部分優化。
|
||||
* Added optimizations from pre-0.8.
|
||||
* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
|
||||
* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
|
||||
* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
|
||||
* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
|
||||
* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
|
||||
* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
|
||||
* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
|
||||
* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
|
||||
* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
|
||||
* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
|
||||
* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
|
||||
* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
|
||||
* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.10 devel.
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 Prius 特定情況下無法操控方向盤的問題。
|
||||
* Fixed unable to regain Prius steering control under certain condition.
|
||||
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
|
||||
* Updated support of VW MQB. (scripts/vw.sh script required)
|
||||
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
|
||||
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
|
||||
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
|
||||
* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
|
||||
* 優化 nanovg。(感謝 @piggy 提供)
|
||||
* Optomized nanovg. (Thanks to @piggy)
|
||||
* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
|
||||
* Added complete_setup.sh (Thanks to @深鲸希西)
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
|
||||
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
|
||||
dragonpilot 0.7.8.3
|
||||
========================
|
||||
* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
|
||||
* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
|
||||
|
||||
dragonpilot 0.7.8.2
|
||||
========================
|
||||
* 修正在沒網路的情況下，開機超過五分鐘的問題。
|
||||
* Fixed 5+ minutes boot time issue when there is no internet connection.
|
||||
* 錯誤回傳改使用 dp 的主機。
|
||||
* Used dp server for error reporting.
|
||||
* 更新服務改使用 gitee 的 IP 檢查連線狀態。
|
||||
* updated service uses gitee IP address instead.
|
||||
|
||||
dragonpilot 0.7.8.1
|
||||
========================
|
||||
* 加入 ko-KR 翻譯。
|
||||
* Added ko-KR translation.
|
||||
* 加入 Honda Jade 支援。(感謝 @李俊灝)
|
||||
* Added Honda Jade support. (Thanks to @lijunhao731)
|
||||
* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
|
||||
* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
|
||||
* gpxd 記錄改自動存成 zip 格式。
|
||||
* gpxd now store in zip format.
|
||||
* 強制關閉 panda 檢查 DOS 硬體。
|
||||
* Force disabled DOS hardware check in panda.
|
||||
|
||||
dragonpilot 0.7.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.8 devel.
|
||||
* Based on latest openpilot 0.7.8 devel.
|
||||
* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
|
||||
* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
|
||||
* 將警示訊息更改為類似於概念 UI 的設計。
|
||||
* Alert messages changed to concept UI alike design.
|
||||
* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
|
||||
* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
|
||||
|
||||
dragonpilot 0.7.7.3
|
||||
========================
|
||||
* 修正方向盤監控。
|
||||
* Fixed steering monitor timer param.
|
||||
* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
|
||||
* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
|
||||
* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
|
||||
* Re-added Dev Mini UI. (Thanks to @Ninjaa)
|
||||
* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
|
||||
* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
|
||||
* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
|
||||
* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
|
||||
* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
|
||||
* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
|
||||
* 使用德國的車道寬度估算值。 （感謝 @arne182）
|
||||
* Used lane width estimate value from Germany. (Thanks to @arne182)
|
||||
|
||||
dragonpilot 0.7.7.2
|
||||
========================
|
||||
* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
|
||||
* Added d_poly offset. (Thanks to @ShaneSmiskol)
|
||||
* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
|
||||
* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
|
||||
* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
|
||||
* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
|
||||
* 加入 LQR 控制器開關進設定畫面。
|
||||
* Added LQR Controller toggle to settings.
|
||||
|
||||
dragonpilot 0.7.7.1
|
||||
========================
|
||||
* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
|
||||
* Added C2 quiet fan mode. (Thanks to @dingliangxue)
|
||||
* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
|
||||
* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
|
||||
* 加入回調校介面。(感謝 @Kent)
|
||||
* Re-added Dev UI. (Thanks to @Kent)
|
||||
* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
|
||||
* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
|
||||
|
||||
dragonpilot 0.7.7.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.7 devel.
|
||||
* Based on latest openpilot 0.7.7 devel.
|
||||
* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
|
||||
* When Manager failed, display IP address. (Thanks to @dingliangxue)
|
||||
* 加回 sr learner 開關。
|
||||
* Re-added sr learner toggle.
|
||||
* 加回 加速模式 開關。
|
||||
* Re-added Accel Profile toggle.
|
||||
* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
|
||||
* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
|
||||
* 介面加入盲點偵測顯示。(感謝 @wabes)
|
||||
* Added BSM indicator to UI. (Thanks to @wabes)
|
||||
* 加回彎道減速功能。(感謝 @Mojo)
|
||||
* re-added Slow On Curve functionality. (Thanks to @Mojo)
|
||||
|
||||
dragonpilot 0.7.6.2
|
||||
========================
|
||||
* 修正無法正確關閉駕駛監控的問題。
|
||||
* Fixed unable to properly turn off driver monitor issue.
|
||||
|
||||
dragonpilot 0.7.6.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.6.1 devel.
|
||||
* Based on latest openpilot 0.7.6.1 devel.
|
||||
* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
|
||||
* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
|
||||
* 完全關閉 steer ratio learner。
|
||||
* Completely disabled steer ratio learner.
|
||||
* 移除「加速模式」。
|
||||
* Removed Accel Profile.
|
||||
* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
|
||||
* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
|
||||
* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
|
||||
* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
|
||||
|
||||
dragonpilot 0.7.5.4
|
||||
========================
|
||||
* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
|
||||
* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
|
||||
|
||||
dragonpilot 0.7.5.3
|
||||
========================
|
||||
* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
|
||||
* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
|
||||
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
|
||||
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
|
||||
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
|
||||
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
|
||||
* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
|
||||
* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 修正「溫度監控」燈示。
|
||||
* Fixed "Temp monitor" indicator.
|
||||
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
|
||||
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
|
||||
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
|
||||
dragonpilot 0.7.5.2
|
||||
========================
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
|
||||
* Updated to stop charging after 3 hrs. (Thanks to @Wei)
|
||||
* 移除行車記錄下的「碰撞偵測」功能。
|
||||
* Removed Impact Detection in Dashcam.
|
||||
* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
|
||||
* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
|
||||
* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
|
||||
* Fixed alert issue in waze mode. (Thanks to @axandres)
|
||||
* 修正無法顯示更新中圖示的問題。
|
||||
* Fixed unable to display "UPDATING" icon issue.
|
||||
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
|
||||
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
|
||||
* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
|
||||
* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
|
||||
* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
|
||||
* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
|
||||
|
||||
dragonpilot 0.7.5.1
|
||||
========================
|
||||
* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
|
||||
* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
|
||||
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
|
||||
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
|
||||
* 更新 appd 使用 cnpmjs 來下載 APKs。
|
||||
* Updated appd to use cnpmjs to download APKs.
|
||||
* 修正更新服務。(感謝 @Wei)
|
||||
* Fixed Update Service. (Thanks to @Wei)
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
|
||||
* 新增「通過移動網路上傳」開關
|
||||
* Added Upload Over Mobile Network toggle.
|
||||
* 新增「通過熱點上傳」開關
|
||||
* Added Upload Over Hotspot toggle.
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
|
||||
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
|
||||
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
|
||||
|
||||
dragonpilot 0.7.5.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.5 devel-staging.
|
||||
* Based on latest openpilot 0.7.5 devel-staging.
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* Updated dp logo, special thanks to @wabes for the design.
|
||||
* 簡/繁中文版和 i18n 整合成為單一版本。
|
||||
* Merged zhs/zht/i18n versions into one.
|
||||
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
|
||||
* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
|
||||
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
|
||||
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* Added Screen off while driving feature.
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* Added Screen off while reversing feature.
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* Added acceleration profile toggle onto driving UI.
|
||||
* 新增自定車型功能，取代指紋暫存功能。
|
||||
* Replaced fingerprint cache with custom car model selector.
|
||||
* 新增可調亮度。
|
||||
* Added Brightness changer.
|
||||
* 新增部分德語支持。(特別感謝 @arne182 提供)
|
||||
* Added partial de_DE language support (Thanks to @arne182)
|
||||
* 新增停車碰撞偵測記錄功能。
|
||||
* Added off road impact detection to dashcam.
|
||||
|
||||
2020-05-06
|
||||
========================
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* 中文版整合進 i18n 版。
|
||||
* 刪除指紋暫存功能。
|
||||
* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* 新增自定義車型。
|
||||
|
||||
2020-04-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
|
||||
* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
|
||||
* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
|
||||
|
||||
2020-04-13
|
||||
========================
|
||||
* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
|
||||
* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
|
||||
* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
|
||||
|
||||
2020-04-10
|
||||
========================
|
||||
* [DEVEL] 更新 panda 至最新的 comma:master 分支。
|
||||
* [DEVEL] 移除所有的第三方應用改為自動下載。
|
||||
* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
|
||||
|
||||
2020-03-31
|
||||
========================
|
||||
* [DEVEL] 更新至 2020-03-31 testing 分支。
|
||||
|
||||
2020-03-27
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支:
|
||||
* 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
|
||||
* 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
|
||||
* 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
|
||||
* 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
|
||||
* 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
|
||||
* 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
|
||||
* 加入韓文支持。(感謝 crwusiz 提供)
|
||||
* 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
|
||||
|
||||
2020-03-22
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支。
|
||||
|
||||
2020-03-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
|
||||
* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
|
||||
|
||||
2020-03-14
|
||||
========================
|
||||
* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
|
||||
* [DEVEL] 調高 Toyota 扭力容錯值。
|
||||
* [DEVEL] 優化讀取 dp 設定值。
|
||||
* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
|
||||
* [DEVEL] dp 功能加入對 Subaru 車系的支援。
|
||||
|
||||
2020-03-06
|
||||
========================
|
||||
* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
|
||||
* [DEVEL] 建立 devel-i18n 取代 devel-en。
|
||||
* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
|
||||
|
||||
2020-03-04
|
||||
========================
|
||||
* [DEVEL] 加入顯示駕駛監控畫面。
|
||||
* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
|
||||
* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
|
||||
|
||||
2020-02-25
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-21
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-14
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] 修正錯誤。
|
||||
|
||||
2020-02-08
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
|
||||
* [DEVEL] 加入神盾測速照相自動啟動的開關。
|
||||
* [DEVEL] 更新高德地圖至 v4.5.0.600053。
|
||||
* [DEVEL] 使用 0.6.6 版的更新系統。
|
||||
* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
|
||||
|
||||
2020-01-31
|
||||
========================
|
||||
* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
|
||||
|
||||
2020-01-29
|
||||
========================
|
||||
* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
|
||||
|
||||
2020-01-23
|
||||
========================
|
||||
* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 優化 appd。
|
||||
|
||||
2020-01-19
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
|
||||
* [DEVEL] 調整 appd 和 ALC 邏輯。
|
||||
|
||||
2020-01-14
|
||||
========================
|
||||
* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
|
||||
|
||||
2020-01-08
|
||||
========================
|
||||
* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
|
||||
* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
|
||||
|
||||
2019-12-31
|
||||
========================
|
||||
* [DEVEL-ZHS] 加回第三方應用。
|
||||
|
||||
2019-12-29
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
|
||||
* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
|
||||
|
||||
2019-12-18
|
||||
========================
|
||||
* [DEVEL] 修正自動換道邏輯。
|
||||
* [DEVEL] 更新 offroad 翻譯。
|
||||
* [DEVEL] 錯誤修正。
|
||||
* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
|
||||
|
||||
2019-12-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
|
||||
* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
|
||||
* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
|
||||
|
||||
2019-12-10
|
||||
========================
|
||||
* [DEVEL] 加入位智車機模式。 (Waze Mode)
|
||||
|
||||
2019-11-21
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
|
||||
* [DEVEL] 調整前車靜止移動偵測參數。
|
||||
* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 frame 翻譯。
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正充電控制。 (感謝 KT 反應)
|
||||
* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
|
||||
* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
|
||||
|
||||
2019-11-11
|
||||
========================
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
|
||||
* [DEVEL] 更新 MiXplorer 至 v6.40.3
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
* [DEVEL] 前車靜止移動偵測加入偵測警示。
|
||||
|
||||
2019-11-07
|
||||
========================
|
||||
* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
|
||||
* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
|
||||
|
||||
2019-11-06
|
||||
========================
|
||||
* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-05
|
||||
========================
|
||||
* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
|
||||
* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
|
||||
* [DEVEL] 更新 offroad 為多語言版
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-29
|
||||
========================
|
||||
* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
|
||||
|
||||
2019-10-28
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
|
||||
* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [DEVEL] 修正 allow_gas 功能。
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入彎道減速功能開關。
|
||||
* [DEVEL] 強迫使用 dp 版 Panda 韌體。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-17
|
||||
========================
|
||||
* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
|
||||
* [DEVEL] 修正充電控制讀取預設值的錯誤。
|
||||
* [DEVEL] 修正無法顯示更新記錄的錯誤。
|
||||
|
||||
2019-10-16
|
||||
========================
|
||||
* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0
|
||||
* [DEVEL] 刪除 bs (Branch Switcher)
|
||||
|
||||
2019-10-14
|
||||
========================
|
||||
* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
|
||||
* [DEVEL] 清除不再使用的 dp params。
|
||||
* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 加入刷新 Panda 韌體按鈕。
|
||||
|
||||
2019-10-11
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
|
||||
|
||||
2019-10-09
|
||||
========================
|
||||
* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
|
||||
|
||||
2019-10-08
|
||||
========================
|
||||
* [DEVEL] 加回駕駛監控開關。
|
||||
* [DEVEL] 加入 bs (branch switcher) 程式。
|
||||
|
||||
2019-10-07
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
|
||||
|
||||
2019-10-05
|
||||
========================
|
||||
* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
|
||||
|
||||
2019-09-30
|
||||
========================
|
||||
* [DEVEL] 更新 curvature learner 版本至 v4。
|
||||
* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
|
||||
2019-09-27
|
||||
========================
|
||||
* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
|
||||
* [DEVEL] 加入可開關駕駛監控的程式碼。
|
||||
* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
|
||||
* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
|
||||
|
||||
2019-09-26
|
||||
========================
|
||||
* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
|
||||
|
||||
2019-09-24
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
|
||||
* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
|
||||
|
||||
2019-09-23
|
||||
========================
|
||||
* [DEVEL] 優化讀取 params 的次數。
|
||||
* [DEVEL] 加入可開關的車道偏移警示。
|
||||
* [DEVEL] 修正充電控制邏輯。
|
||||
* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
|
||||
|
||||
2019-09-20
|
||||
========================
|
||||
* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
|
||||
|
||||
2019-09-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
|
||||
* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
|
||||
|
||||
2019-09-13
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
|
||||
|
||||
2019-09-09
|
||||
========================
|
||||
* [DEVEL] 加入 GreyPanda 模式。
|
||||
|
||||
2019-08-28
|
||||
========================
|
||||
* [DEVEL] 加入可調警示音量。
|
||||
|
||||
2019-08-27
|
||||
========================
|
||||
* [DEVEL] 自動關機改為可調時長。
|
||||
@@ -1,45 +0,0 @@
|
||||
# How to contribute
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
|
||||
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
|
||||
|
||||
## Getting Started
|
||||
|
||||
* Join our [Discord](https://discord.comma.ai)
|
||||
* Make sure you have a [GitHub account](https://github.com/signup/free)
|
||||
* Fork [our repositories](https://github.com/commaai) on GitHub
|
||||
|
||||
## Testing
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
|
||||
|
||||
## Pull Requests
|
||||
|
||||
Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
|
||||
```
|
||||
git clone https://github.com/commaai/openpilot.git --recursive
|
||||
```
|
||||
Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule update --init
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
|
||||
Modules that are in seperate repositories include:
|
||||
* cereal
|
||||
* laika
|
||||
* opendbc
|
||||
* panda
|
||||
* rednose
|
||||
@@ -1,28 +0,0 @@
|
||||
# CONTRIBUTORS
|
||||
|
||||
Due to the way we manage the source code, it is not possible to see all the contributors info, hence we create a list here.
|
||||
|
||||
If you have contributed to DP project before and your name is not listed here, feel free to send us a PR to update this!
|
||||
|
||||
name | github | contribution
|
||||
------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------
|
||||
andy741217 | [andy741217](https://github.com/andy741217) | New features, bug fixes
|
||||
Arne Schwarck | [arne182](https://github.com/arne182) | New features, bug fixes
|
||||
berno22 | [berno22](https://github.com/berno22) | New car fingerprint
|
||||
Bobbydough | [Bobbydough](https://github.com/bobbydough) | Bug fixes
|
||||
Curtis Jenkins | [actuallylemoncurd](https://github.com/actuallylemoncurd) | New Features
|
||||
DFyffe | [donfyffe](https://github.com/donfyffe) | New features, bug fixes
|
||||
dinglx | [dingliangxue](https://github.com/dingliangxue) | New features, bug fixes
|
||||
eyezenheim | [eyezenheim](https://github.com/eyezenheim) | Tester
|
||||
kegman | [kegman](https://github.com/kegman) | New features, bug fixes
|
||||
kumar | [rav4kumar](https://github.com/rav4kumar) | New features, bug fixes
|
||||
lijunhao731 | [lijunhao731](https://github.com/lijunhao731) | New car fingerprint
|
||||
lirudy | [lirudy](https://github.com/lirudy) | Bug fixes
|
||||
LOVEChen | [LOVEChen](https://github.com/LOVEChen) | Bug fixes
|
||||
loveloveses | [loveloveses](https://github.com/loveloveses) | Bug fixes, DP wiki main maintainer
|
||||
menwenliang | [menwenliang](https://github.com/menwenliang) | New features
|
||||
Rick Lan | [efinilan](https://github.com/efinilan) | Project lead
|
||||
rming | [Rming](https://github.com/rming) | Bug fixes, wiki contributor
|
||||
sebastian4k | [sebastian4k](https://github.com/sebastian4k) | Bug fixes
|
||||
Shane Smiskol | [sshane](https://github.com/sshane) | New features, bug fixes
|
||||
toyboxZ | [toyboxZ](https://github.com/toyboxZ) | New features, bug fixes
|
||||
13
Dockerfile.openpilot
Normal file
13
Dockerfile.openpilot
Normal file
@@ -0,0 +1,13 @@
|
||||
FROM ubuntu:16.04
|
||||
ENV PYTHONUNBUFFERED 1
|
||||
|
||||
RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev
|
||||
|
||||
RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
|
||||
|
||||
COPY requirements_openpilot.txt /tmp/
|
||||
RUN pip install -r /tmp/requirements_openpilot.txt
|
||||
|
||||
ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
|
||||
|
||||
COPY . /tmp/openpilot
|
||||
@@ -1,25 +0,0 @@
|
||||
How to install on Oneplus 3t?
|
||||
------
|
||||
1. clone dragonpilot to /data/ and make sure it's named openpilot:
|
||||
(手動安裝切換至 dragonpilot 0.8.5 branch)
|
||||
```
|
||||
cd /data/ && rm -fr openpilot; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.5
|
||||
```
|
||||
|
||||
2. run command:
|
||||
(在 ssh 畫面下，輸入)
|
||||
```
|
||||
cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
|
||||
```
|
||||
|
||||
3. Let it download and complete it update, after a couple of reboot, your screen will then stay in fastboot mode.
|
||||
(等待下載並讓它重新開機，沒錯誤的話會進入 Android 機器人更新畫面，等自動重新開機)
|
||||
|
||||
4. In fastboot mode, select use volume button to select to `Recovery mode` then press power button.
|
||||
(在 fastboot 模式，用音量鍵上下選到 Recovery mode 再按下電源鍵)
|
||||
|
||||
5. In Recovery mode, tap `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`
|
||||
(在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
|
||||
|
||||
6. You should be able to boot into openpilot, if touch screen is not working, try to reboot again.
|
||||
(你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)
|
||||
246
Jenkinsfile
vendored
246
Jenkinsfile
vendored
@@ -1,246 +0,0 @@
|
||||
def phone(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
|
||||
|
||||
set -e
|
||||
|
||||
export CI=1
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /TICI ]; then
|
||||
source /etc/profile
|
||||
fi
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
if [ -f /EON ]; then
|
||||
echo \$\$ > /dev/cpuset/app/tasks || true
|
||||
echo \$PPID > /dev/cpuset/app/tasks || true
|
||||
mkdir -p /dev/shm
|
||||
chmod 777 /dev/shm
|
||||
fi
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
${cmd}
|
||||
exit 0
|
||||
|
||||
EOF"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def phone_steps(String device_type, steps) {
|
||||
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 150, unit: 'MINUTES') {
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
environment {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
}
|
||||
options {
|
||||
timeout(time: 3, unit: 'HOURS')
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
stage('Build release2') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
when {
|
||||
branch 'devel-staging'
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('openpilot tests') {
|
||||
when {
|
||||
not {
|
||||
anyOf {
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
/*
|
||||
stage('PC tests') {
|
||||
agent {
|
||||
dockerfile {
|
||||
filename 'Dockerfile.openpilotci'
|
||||
args '--privileged --shm-size=1G --user=root'
|
||||
}
|
||||
}
|
||||
stages {
|
||||
stage('Build') {
|
||||
steps {
|
||||
sh 'scons -j$(nproc)'
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
// fix permissions since docker runs as another user
|
||||
sh "chmod -R 777 ."
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
stage('On-device Tests') {
|
||||
agent {
|
||||
docker {
|
||||
/*
|
||||
filename 'Dockerfile.ondevice_ci'
|
||||
args "--privileged -v /dev:/dev --shm-size=1G --user=root"
|
||||
*/
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
|
||||
stages {
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
stage('Devel Tests') {
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build devel", "cd release && DEVEL_TEST=1 ./build_devel.sh"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
|
||||
//["test updater", "python installer/updater/test_updater.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
stage('Power Consumption Tests') {
|
||||
steps {
|
||||
lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 90, unit: 'MINUTES') {
|
||||
sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
phone(device_ip, "build", "scons -j4 && sync")
|
||||
sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
|
||||
sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
|
||||
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
|
||||
sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
|
||||
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
|
||||
sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
|
||||
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
stage('Tici Build') {
|
||||
environment {
|
||||
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('camerad') {
|
||||
steps {
|
||||
phone_steps("eon-party", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
|
||||
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Tici camerad') {
|
||||
steps {
|
||||
phone_steps("tici-party", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
|
||||
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
stage('Push master-ci') {
|
||||
when {
|
||||
branch 'master'
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["push devel", "cd release && CI_PUSH='master-ci' ./build_devel.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
post {
|
||||
always {
|
||||
cleanWs()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
Copyright (c) 2018, Comma.ai, Inc.
|
||||
Copyright (c) 2016, Comma.ai, Inc.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
|
||||
6
Makefile
Normal file
6
Makefile
Normal file
@@ -0,0 +1,6 @@
|
||||
.PHONY: all
|
||||
|
||||
# TODO: Add a global build system to openpilot
|
||||
all:
|
||||
cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
|
||||
|
||||
414
README.md
414
README.md
@@ -1,382 +1,108 @@
|
||||
[](#)
|
||||
Welcome to openpilot
|
||||
======
|
||||
|
||||
Table of Contents
|
||||
=======================
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.
|
||||
|
||||
* [What is openpilot?](#what-is-openpilot)
|
||||
* [Integration with Stock Features](#integration-with-stock-features)
|
||||
* [Supported Hardware](#supported-hardware)
|
||||
* [Supported Cars](#supported-cars)
|
||||
* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
|
||||
* [Installation Instructions](#installation-instructions)
|
||||
* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
|
||||
* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
|
||||
* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
|
||||
* [User Data and comma Account](#user-data-and-comma-account)
|
||||
* [Safety and Testing](#safety-and-testing)
|
||||
* [Testing on PC](#testing-on-pc)
|
||||
* [Community and Contributing](#community-and-contributing)
|
||||
* [Directory Structure](#directory-structure)
|
||||
* [Licensing](#licensing)
|
||||
Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
|
||||
|
||||
---
|
||||
The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
|
||||
|
||||
What is openpilot?
|
||||
Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
|
||||
|
||||
Hardware
|
||||
------
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
|
||||
Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
Integration with Stock Features
|
||||
------
|
||||
|
||||
In all supported cars:
|
||||
* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
|
||||
* Stock LDW is replaced by openpilot LDW.
|
||||
|
||||
Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
|
||||
* Stock ACC is replaced by openpilot ACC.
|
||||
* openpilot FCW operates in addition to stock FCW.
|
||||
|
||||
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
|
||||
|
||||
Supported Hardware
|
||||
------
|
||||
|
||||
At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
|
||||
|
||||
Supported Cars
|
||||
------
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | UX Hybrid 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon Hybrid 2019 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
- Acura ILX 2016 with AcuraWatch Plus
|
||||
- Due to use of the cruise control for gas, it can only be enabled above 25 mph
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
- Honda Civic 2016 with Honda Sensing
|
||||
- Due to limitations in steering firmware, steering is disabled below 12 mph
|
||||
|
||||
Community Maintained Cars and Features
|
||||
- Honda CR-V Touring 2015-2016 (very alpha!)
|
||||
- Can only be enabled above 25 mph
|
||||
|
||||
Directory structure
|
||||
------
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | Q2 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19, 2021 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia 2015, 2019 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Atlas 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Passat 2016-17<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
- cereal -- The messaging spec used for all logs on the phone
|
||||
- common -- Library like functionality we've developed here
|
||||
- opendbc -- Files showing how to interpret data from cars
|
||||
- panda -- Code used to communicate on CAN and LIN
|
||||
- phonelibs -- Libraries used on the phone
|
||||
- selfdrive -- Code needed to drive the car
|
||||
- assets -- Fonts for ui
|
||||
- boardd -- Daemon to talk to the board
|
||||
- car -- Code that talks to the car and implements CarInterface
|
||||
- common -- Shared C/C++ code for the daemons
|
||||
- controls -- Python controls (PID loops etc) for the car
|
||||
- debug -- Tools to help you debug and do car ports
|
||||
- logcatd -- Android logcat as a service
|
||||
- loggerd -- Logger and uploader of car data
|
||||
- proclogd -- Logs information from proc
|
||||
- radar -- Code that talks to the radar and implements RadarInterface
|
||||
- sensord -- IMU / GPS interface code
|
||||
- test/plant -- Car simulator running code through virtual maneuvers
|
||||
- ui -- The UI
|
||||
- visiond -- embedded vision pipeline
|
||||
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
|
||||
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
|
||||
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
Installation Instructions
|
||||
------
|
||||
|
||||
Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
|
||||
Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
|
||||
|
||||
Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
|
||||
|
||||
You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
|
||||
|
||||
Limitations of openpilot ALC and LDW
|
||||
------
|
||||
|
||||
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
|
||||
|
||||
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
|
||||
|
||||
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
|
||||
* In the presence of restricted lanes or construction zones.
|
||||
* When driving on highly banked roads or in presence of strong cross-wind.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot ACC and FCW
|
||||
------
|
||||
|
||||
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
|
||||
|
||||
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* Approaching a toll booth, a bridge or a large metal plate.
|
||||
* When driving on roads with pedestrians, cyclists, etc...
|
||||
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
|
||||
* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
|
||||
* In presence of vehicles in the same lane that are not moving.
|
||||
* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
|
||||
* When surrounding vehicles perform close cut-ins from neighbor lanes.
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Interference from other equipment that generates radar waves.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot DM
|
||||
------
|
||||
|
||||
openpilot DM should not be considered an exact measurement of the alertness of the driver.
|
||||
|
||||
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
|
||||
User Data and comma Account
|
||||
------
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
|
||||
* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
|
||||
* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
|
||||
To understand how the services interact, see `selfdrive/service_list.yaml`
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
|
||||
|
||||
Steps:
|
||||
1) Start the CARLA server on first terminal
|
||||
There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
|
||||
|
||||
```bash
|
||||
# Requires working docker
|
||||
./run_docker_tests.sh
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
|
||||
```
|
||||
2) Start openpilot on second terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
|
||||
```
|
||||
3) Press 1 to engage openpilot
|
||||
|
||||
See the full [README](tools/sim/README.md)
|
||||
The results are written to `selfdrive/test/plant/out/index.html`
|
||||
|
||||
You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
|
||||
More extensive testing infrastructure and simulation environments are coming soon.
|
||||
|
||||
|
||||
Community and Contributing
|
||||
Adding Car Support
|
||||
------
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
|
||||
comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.
|
||||
|
||||
You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
|
||||
CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
|
||||
|
||||
And [follow us on Twitter](https://twitter.com/comma_ai).
|
||||
|
||||
Directory Structure
|
||||
User Data / chffr Account / Crash Reporting
|
||||
------
|
||||
.
|
||||
├── cereal # The messaging spec and libs used for all logs
|
||||
├── common # Library like functionality we've developed here
|
||||
├── installer/updater # Manages auto-updates of NEOS
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── phonelibs # Libraries used on NEOS devices
|
||||
├── pyextra # Libraries used on NEOS devices
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts, images and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
├── car # Car specific code to read states and control actuators
|
||||
├── common # Shared C/C++ code for the daemons
|
||||
├── controls # Perception, planning and controls
|
||||
├── debug # Tools to help you debug and do car ports
|
||||
├── locationd # Soon to be home of precise location
|
||||
├── logcatd # Android logcat as a service
|
||||
├── loggerd # Logger and uploader of car data
|
||||
├── modeld # Driving and monitoring model runners
|
||||
├── proclogd # Logs information from proc
|
||||
├── sensord # IMU / GPS interface code
|
||||
├── test # Unit tests, system tests and a car simulator
|
||||
└── ui # The UI
|
||||
|
||||
By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
It's open source software, so you are free to disable it if you wish.
|
||||
|
||||
It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
It does not log the user facing camera or the microphone.
|
||||
|
||||
By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
|
||||
|
||||
Contributing
|
||||
------
|
||||
|
||||
We welcome both pull requests and issues on
|
||||
[github](http://github.com/commaai/openpilot). See the TODO file for a list of
|
||||
good places to start.
|
||||
|
||||
Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
openpilot is released under the MIT license.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
---
|
||||
|
||||
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:python)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
|
||||
659
RELEASES.md
659
RELEASES.md
@@ -1,559 +1,3 @@
|
||||
Version 0.8.5 (2021-06-11)
|
||||
========================
|
||||
* NEOS update: improved reliability and stability with better voltage regulator configuration
|
||||
* Smart model-based Forward Collision Warning
|
||||
* CAN-based fingerprinting moved behind community features toggle
|
||||
* Improved longitudinal control on Toyotas with a comma pedal
|
||||
* Improved auto-brightness using road-facing camera
|
||||
* Added "Software" settings page with updater controls
|
||||
* Audi Q2 2018 support thanks to jyoung8607!
|
||||
* Hyundai Elantra 2021 support thanks to CruiseBrantley!
|
||||
* Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
|
||||
* Toyota Avalon Hybrid 2019 support thanks to jbates9011!
|
||||
* SEAT Leon 2017 & 2020 support thanks to jyoung8607!
|
||||
* Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.4 (2021-05-17)
|
||||
========================
|
||||
* Delay controls start until system is ready
|
||||
* Fuzzy car identification, enabled with Community Features toggle
|
||||
* Localizer optimized for increased precision and less CPU usage
|
||||
* Retuned lateral control to be more aggressive when model is confident
|
||||
* Toyota Mirai 2021 support
|
||||
* Lexus NX 300 2020 support thanks to goesreallyfast!
|
||||
* Volkswagen Atlas 2018-19 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.3 (2021-04-01)
|
||||
========================
|
||||
* New model
|
||||
* Trained on new diverse dataset from 2000+ users from 30+ countries
|
||||
* Trained with improved segnet from the comma-pencil community project
|
||||
* 🥬 Dramatically improved end-to-end lateral performance 🥬
|
||||
* Toggle added to disable the use of lanelines
|
||||
* NEOS update: update packages and support for new UI
|
||||
* New offroad UI based on Qt
|
||||
* Default SSH key only used for setup
|
||||
* Kia Ceed 2019 support thanks to ZanZaD13!
|
||||
* Kia Seltos 2021 support thanks to speedking456!
|
||||
* Added support for many Volkswagen and Škoda models thanks to jyoung8607!
|
||||
|
||||
Version 0.8.2 (2021-02-26)
|
||||
========================
|
||||
* Use model points directly in MPC (no more polyfits), making lateral planning more accurate
|
||||
* Use model heading prediction for smoother lateral control
|
||||
* Smarter actuator delay compensation
|
||||
* Improve qcamera resolution for improved video in explorer and connect
|
||||
* Adjust maximum engagement speed to better fit the model's training distribution
|
||||
* New driver monitoring model trained with 3x more diverse data
|
||||
* Improved face detection with masks
|
||||
* More predictable DM alerts when visibility is bad
|
||||
* Rewritten video streaming between openpilot processes
|
||||
* Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
|
||||
* Audi A3 2015 and 2017 support thanks to keeleysam!
|
||||
* Nissan Altima 2020 support thanks to avolmensky!
|
||||
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
|
||||
* Toyota Camry Hybrid 2021 support thanks to alancyau!
|
||||
|
||||
Version 0.8.1 (2020-12-21)
|
||||
========================
|
||||
* Original EON is deprecated, upgrade to comma two
|
||||
* Better model performance in heavy rain
|
||||
* Better lane positioning in turns
|
||||
* Fixed bug where model would cut turns on empty roads at night
|
||||
* Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
|
||||
* Toyota Camry 2021 with TSS2.5 support
|
||||
* Hyundai Ioniq Electric 2020 support thanks to baldwalker!
|
||||
|
||||
Version 0.8.0 (2020-11-30)
|
||||
========================
|
||||
* New driving model: fully 3D and improved cut-in detection
|
||||
* UI draws 2 road edges, 4 lanelines and paths in 3D
|
||||
* Major fixes to cut-in detection for openpilot longitudinal
|
||||
* Grey panda is no longer supported, upgrade to comma two or black panda
|
||||
* Lexus NX 2018 support thanks to matt12eagles!
|
||||
* Kia Niro EV 2020 support thanks to nickn17!
|
||||
* Toyota Prius 2021 support thanks to rav4kumar!
|
||||
* Improved lane positioning with uncertain lanelines, wide lanes and exits
|
||||
* Improved lateral control for Prius and Subaru
|
||||
|
||||
Version 0.7.10 (2020-10-29)
|
||||
========================
|
||||
* Grey panda is deprecated, upgrade to comma two or black panda
|
||||
* NEOS update: update to Python 3.8.2 and lower CPU frequency
|
||||
* Improved thermals due to reduced CPU frequency
|
||||
* Update SNPE to 1.41.0
|
||||
* Reduced offroad power consumption
|
||||
* Various system stability improvements
|
||||
* Acura RDX 2020 support thanks to csouers!
|
||||
|
||||
Version 0.7.9 (2020-10-09)
|
||||
========================
|
||||
* Improved car battery power management
|
||||
* Improved updater robustness
|
||||
* Improved realtime performance
|
||||
* Reduced UI and modeld lags
|
||||
* Increased torque on 2020 Hyundai Sonata and Palisade
|
||||
|
||||
Version 0.7.8 (2020-08-19)
|
||||
========================
|
||||
* New driver monitoring model: improved face detection and better compatibility with sunglasses
|
||||
* Download NEOS operating system updates in the background
|
||||
* Improved updater reliability and responsiveness
|
||||
* Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
|
||||
|
||||
Version 0.7.7 (2020-07-20)
|
||||
========================
|
||||
* White panda is no longer supported, upgrade to comma two or black panda
|
||||
* Improved vehicle model estimation using high precision localizer
|
||||
* Improved thermal management on comma two
|
||||
* Improved autofocus for road-facing camera
|
||||
* Improved noise performance for driver-facing camera
|
||||
* Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
|
||||
* Fix GM ignition detection
|
||||
* Code cleanup and smaller release sizes
|
||||
* Hyundai Sonata 2020 promoted to officially supported car
|
||||
* Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
|
||||
* Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
|
||||
|
||||
Version 0.7.6.1 (2020-06-16)
|
||||
========================
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
|
||||
Version 0.7.6 (2020-06-05)
|
||||
========================
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
|
||||
Version 0.7.5 (2020-05-13)
|
||||
========================
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
|
||||
Version 0.7.4 (2020-03-20)
|
||||
========================
|
||||
* New driving model: improved lane changes and lead car detection
|
||||
* Improved driver monitoring model: improve eye detection
|
||||
* Improved calibration stability
|
||||
* Improved lateral control on some 2019 and 2020 Toyota Prius
|
||||
* Improved lateral control on VW Golf: 20% more steering torque
|
||||
* Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
|
||||
* Support for Honda Insight thanks to theantihero!
|
||||
* Code cleanup in car abstraction layers and ui
|
||||
|
||||
Version 0.7.3 (2020-02-21)
|
||||
========================
|
||||
* Support for 2020 Highlander thanks to che220!
|
||||
* Support for 2018 Lexus NX 300h thanks to kengggg!
|
||||
* Speed up ECU firmware query
|
||||
* Fix bug where manager would sometimes hang after shutting down the car
|
||||
|
||||
Version 0.7.2 (2020-02-07)
|
||||
========================
|
||||
* ECU firmware version based fingerprinting for Honda & Toyota
|
||||
* New driving model: improved path prediction during turns and lane changes and better lead speed tracking
|
||||
* Improve driver monitoring under extreme lighting and add low accuracy alert
|
||||
* Support for 2019 Rav4 Hybrid thanks to illumiN8i!
|
||||
* Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
|
||||
* Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
|
||||
|
||||
Version 0.7.1 (2020-01-20)
|
||||
========================
|
||||
* comma two support!
|
||||
* Lane Change Assist above 45 mph!
|
||||
* Replace zmq with custom messaging library, msgq!
|
||||
* Supercombo model: calibration and driving models are combined for better lead estimate
|
||||
* More robust updater thanks to jyoung8607! Requires NEOS update
|
||||
* Improve low speed ACC tuning
|
||||
|
||||
Version 0.7 (2019-12-13)
|
||||
========================
|
||||
* Move to SCons build system!
|
||||
* Add Lane Departure Warning (LDW) for all supported vehicles!
|
||||
* NEOS update: increase wifi speed thanks to jyoung8607!
|
||||
* Adaptive driver monitoring based on scene
|
||||
* New driving model trained end-to-end: improve lane lines and lead detection
|
||||
* Smarter torque limit alerts for all cars
|
||||
* Improve GM longitudinal control: proper computations for 15Hz radar
|
||||
* Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
|
||||
* Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
|
||||
* Refactor Panda code towards ISO26262 and SIL2 compliancy
|
||||
* Forward stock FCW for Honda Nidec
|
||||
* Volkswagen port now standard: comma Harness intercepts stock camera
|
||||
|
||||
Version 0.6.6 (2019-11-05)
|
||||
========================
|
||||
* Volkswagen support thanks to jyoung8607!
|
||||
* Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
|
||||
* Lexus ES with TSS 2.0 support thanks to energee!
|
||||
* Fix GM ignition detection and lock safety mode not required anymore
|
||||
* Log panda firmware and dongle ID thanks to martinl!
|
||||
* New driving model: improve path prediction and lead detection
|
||||
* New driver monitoring model, 4x smaller and running on DSP
|
||||
* Display an alert and don't start openpilot if panda has wrong firmware
|
||||
* Fix bug preventing EON from terminating processes after a drive
|
||||
* Remove support for Toyota giraffe without the 120Ohm resistor
|
||||
|
||||
Version 0.6.5 (2019-10-07)
|
||||
========================
|
||||
* NEOS update: upgrade to Python3 and new installer!
|
||||
* comma Harness support!
|
||||
* New driving model: improve path prediction
|
||||
* New driver monitoring model: more accurate face and eye detection
|
||||
* Redesign offroad screen to display updates and alerts
|
||||
* Increase maximum allowed acceleration
|
||||
* Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
|
||||
* Lexus CT Hybrid support thanks to thomaspich!
|
||||
* Louder chime for critical alerts
|
||||
* Add toggle to switch to dashcam mode
|
||||
* Fix "invalid vehicle params" error on DSU-less Toyota
|
||||
|
||||
Version 0.6.4 (2019-09-08)
|
||||
========================
|
||||
* Forward stock AEB for Honda Nidec
|
||||
* Improve lane centering on banked roads
|
||||
* Always-on forward collision warning
|
||||
* Always-on driver monitoring, except for right hand drive countries
|
||||
* Driver monitoring learns the user's normal driving position
|
||||
* Honda Fit support thanks to energee!
|
||||
* Lexus IS support
|
||||
|
||||
Version 0.6.3 (2019-08-12)
|
||||
========================
|
||||
* Alert sounds from EON: requires NEOS update
|
||||
* Improve driver monitoring: eye tracking and improved awareness logic
|
||||
* Improve path prediction with new driving model
|
||||
* Improve lane positioning with wide lanes and exits
|
||||
* Improve lateral control on RAV4
|
||||
* Slow down for turns using model
|
||||
* Open sourced regression test to verify outputs against reference logs
|
||||
* Open sourced regression test to sanity check all car models
|
||||
|
||||
Version 0.6.2 (2019-07-29)
|
||||
========================
|
||||
* New driving model!
|
||||
* Improve lane tracking with double lines
|
||||
* Strongly improve stationary vehicle detection
|
||||
* Strongly reduce cases of braking due to false leads
|
||||
* Better lead tracking around turns
|
||||
* Improve cut-in prediction by using neural network
|
||||
* Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
|
||||
* Fix unintended openpilot disengagements on Jeep thanks to adhintz!
|
||||
* Fix delayed transition to offroad when car is turned off
|
||||
|
||||
Version 0.6.1 (2019-07-21)
|
||||
========================
|
||||
* Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
|
||||
* Panda code Misra-c2012 compliance, tested against cppcheck coverage
|
||||
* Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
|
||||
* Toyota Sienna support thanks to wocsor!
|
||||
|
||||
Version 0.6 (2019-07-01)
|
||||
========================
|
||||
* New model, with double the pixels and ten times the temporal context!
|
||||
* Car should not take exits when in the right lane
|
||||
* openpilot uses only ~65% of the CPU (down from 75%)
|
||||
* Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
|
||||
* loggerd and sensord are open source, every line of openpilot is now open
|
||||
* Panda safety code is MISRA compliant and ships with a signed version on release2
|
||||
* New NEOS is 500MB smaller and has a reproducible usr/pipenv
|
||||
* Lexus ES Hybrid support thanks to wocsor!
|
||||
* Improve tuning for supported Toyota with TSS 2.0
|
||||
* Various other stability improvements
|
||||
|
||||
Version 0.5.13 (2019-05-31)
|
||||
==========================
|
||||
* Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
|
||||
* Reduce EON power consumption by 40%, down to 1100mW, when car is off
|
||||
* Reduce CPU utilization by 20% and improve stability
|
||||
* Temporarily remove mapd functionalities to improve stability
|
||||
* Add openpilot record-only mode for unsupported cars
|
||||
* Synchronize controlsd to boardd to reduce latency
|
||||
* Remove panda support for Subaru giraffe
|
||||
|
||||
Version 0.5.12 (2019-05-16)
|
||||
==========================
|
||||
* Improve lateral control for the Prius and Prius Prime
|
||||
* Compress logs before writing to disk
|
||||
* Remove old driving data when storage reaches 90% full
|
||||
* Fix small offset in following distance
|
||||
* Various small CPU optimizations
|
||||
* Improve offroad power consumption: require NEOS Update
|
||||
* Add default speed limits for Estonia thanks to martinl!
|
||||
* Subaru Crosstrek support thanks to martinl!
|
||||
* Toyota Avalon support thanks to njbrown09!
|
||||
* Toyota Rav4 with TSS 2.0 support thanks to wocsor!
|
||||
* Toyota Corolla with TSS 2.0 support thanks to wocsor!
|
||||
|
||||
Version 0.5.11 (2019-04-17)
|
||||
========================
|
||||
* Add support for Subaru
|
||||
* Reduce panda power consumption by 60% when car is off
|
||||
* Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
|
||||
* Fix bug in controls with new angle-offset learner in MPC
|
||||
* Reduce cpu consumption of ubloxd by rewriting it in C++
|
||||
* Improve driver monitoring model and face detection
|
||||
* Improve performance of visiond and ui
|
||||
* Honda Passport 2019 support
|
||||
* Lexus RX Hybrid 2019 support thanks to schomems!
|
||||
* Improve road selection heuristic in mapd
|
||||
* Add Lane Departure Warning to dashboard for Toyota thanks to arne182
|
||||
|
||||
Version 0.5.10 (2019-03-19)
|
||||
========================
|
||||
* Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
|
||||
* Improve longitudinal control at low speed when lead vehicle harshly decelerates
|
||||
* Fix panda bug going unexpectedly in DCP mode when EON is connected
|
||||
* Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
|
||||
* New Driver Monitoring Model
|
||||
* Support QR codes for login using comma connect
|
||||
* Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
|
||||
Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
|
||||
* Additional speed limit rules for Germany thanks to arne182
|
||||
* Allow negative speed limit offsets
|
||||
|
||||
Version 0.5.9 (2019-02-10)
|
||||
========================
|
||||
* Improve calibration using a dedicated neural network
|
||||
* Abstract planner in its own process to remove lags in controls process
|
||||
* Improve speed limits with country/region defaults by road type
|
||||
* Reduce mapd data usage with gzip thanks to eFiniLan
|
||||
* Zip log files in the background to reduce disk usage
|
||||
* Kia Optima support thanks to emmertex!
|
||||
* Buick Regal 2018 support thanks to HOYS!
|
||||
* Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
|
||||
* Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
|
||||
|
||||
Version 0.5.8 (2019-01-17)
|
||||
========================
|
||||
* Open sourced visiond
|
||||
* Auto-slowdown for upcoming turns
|
||||
* Chrysler/Jeep/Fiat support thanks to adhintz!
|
||||
* Honda Civic 2019 support thanks to csouers!
|
||||
* Improve use of car display in Toyota thanks to arne182!
|
||||
* No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
|
||||
* EON stops charging when 12V battery drops below 11.8V
|
||||
|
||||
Version 0.5.7 (2018-12-06)
|
||||
========================
|
||||
* Speed limit from OpenStreetMap added to UI
|
||||
* Highlight speed limit when speed exceeds road speed limit plus a delta
|
||||
* Option to limit openpilot max speed to road speed limit plus a delta
|
||||
* Cadillac ATS support thanks to vntarasov!
|
||||
* GMC Acadia support thanks to CryptoKylan!
|
||||
* Decrease GPU power consumption
|
||||
* NEOSv8 autoupdate
|
||||
|
||||
Version 0.5.6 (2018-11-16)
|
||||
========================
|
||||
* Refresh settings layout and add feature descriptions
|
||||
* In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
|
||||
* In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
|
||||
* Improve camera calibration stability
|
||||
* More tuning to Honda positive accelerations
|
||||
* Reduce brake pump use on Hondas
|
||||
* Chevrolet Malibu support thanks to tylergets!
|
||||
* Holden Astra support thanks to AlexHill!
|
||||
|
||||
Version 0.5.5 (2018-10-20)
|
||||
========================
|
||||
* Increase allowed Honda positive accelerations
|
||||
* Fix sporadic unexpected braking when passing semi-trucks in Toyota
|
||||
* Fix gear reading bug in Hyundai Elantra thanks to emmertex!
|
||||
|
||||
Version 0.5.4 (2018-09-25)
|
||||
========================
|
||||
* New Driving Model
|
||||
* New Driver Monitoring Model
|
||||
* Improve longitudinal mpc in mid-low speed braking
|
||||
* Honda Accord hybrid support thanks to energee!
|
||||
* Ship mpc binaries and sensibly reduce build time
|
||||
* Calibration more stable
|
||||
* More Hyundai and Kia cars supported thanks to emmertex!
|
||||
* Various GM Volt improvements thanks to vntarasov!
|
||||
|
||||
Version 0.5.3 (2018-09-03)
|
||||
========================
|
||||
* Hyundai Santa Fe support!
|
||||
* Honda Pilot 2019 support thanks to energee!
|
||||
* Toyota Highlander support thanks to daehahn!
|
||||
* Improve steering tuning for Honda Odyssey
|
||||
|
||||
Version 0.5.2 (2018-08-16)
|
||||
========================
|
||||
* New calibration: more accurate, a lot faster, open source!
|
||||
* Enable orbd
|
||||
* Add little endian support to CAN packer
|
||||
* Fix fingerprint for Honda Accord 1.5T
|
||||
* Improve driver monitoring model
|
||||
|
||||
Version 0.5.1 (2018-08-01)
|
||||
========================
|
||||
* Fix radar error on Civic sedan 2018
|
||||
* Improve thermal management logic
|
||||
* Alpha Toyota C-HR and Camry support!
|
||||
* Auto-switch Driver Monitoring to 3 min counter when inaccurate
|
||||
|
||||
Version 0.5 (2018-07-11)
|
||||
========================
|
||||
* Driver Monitoring (beta) option in settings!
|
||||
* Make visiond, loggerd and UI use less resources
|
||||
* 60 FPS UI
|
||||
* Better car parameters for most cars
|
||||
* New sidebar with stats
|
||||
* Remove Waze and Spotify to free up system resources
|
||||
* Remove rear view mirror option
|
||||
* Calibration 3x faster
|
||||
|
||||
Version 0.4.7.2 (2018-06-25)
|
||||
==========================
|
||||
* Fix loggerd lag issue
|
||||
* No longer prompt for updates
|
||||
* Mitigate right lane hugging for properly mounted EON (procedure on wiki)
|
||||
|
||||
Version 0.4.7.1 (2018-06-18)
|
||||
==========================
|
||||
* Fix Acura ILX steer faults
|
||||
* Fix bug in mock car
|
||||
|
||||
Version 0.4.7 (2018-06-15)
|
||||
==========================
|
||||
* New model!
|
||||
* GM Volt (and CT6 lateral) support!
|
||||
* Honda Bosch lateral support!
|
||||
* Improve actuator modeling to reduce lateral wobble
|
||||
* Minor refactor of car abstraction layer
|
||||
* Hack around orbd startup issue
|
||||
|
||||
Version 0.4.6 (2018-05-18)
|
||||
==========================
|
||||
* NEOSv6 required! Will autoupdate
|
||||
* Stability improvements
|
||||
* Fix all memory leaks
|
||||
* Update C++ compiler to clang6
|
||||
* Improve front camera exposure
|
||||
|
||||
Version 0.4.5 (2018-04-27)
|
||||
==========================
|
||||
* Release notes added to the update popup
|
||||
* Improve auto shut-off logic to disallow empty battery
|
||||
* Added onboarding instructions
|
||||
* Include orbd, the first piece of new calibration algorithm
|
||||
* Show remaining upload data instead of file numbers
|
||||
* Fix UI bugs
|
||||
* Fix memory leaks
|
||||
|
||||
Version 0.4.4 (2018-04-13)
|
||||
==========================
|
||||
* EON are flipped! Flip your EON's mount!
|
||||
* Alpha Honda Ridgeline support thanks to energee!
|
||||
* Support optional front camera recording
|
||||
* Upload over cellular toggle now applies to all files, not just video
|
||||
* Increase acceleration when closing lead gap
|
||||
* User now prompted for future updates
|
||||
* NEO no longer supported :(
|
||||
|
||||
Version 0.4.3.2 (2018-03-29)
|
||||
============================
|
||||
* Improve autofocus
|
||||
* Improve driving when only one lane line is detected
|
||||
* Added fingerprint for Toyota Corolla LE
|
||||
* Fixed Toyota Corolla steer error
|
||||
* Full-screen driving UI
|
||||
* Improved path drawing
|
||||
|
||||
Version 0.4.3.1 (2018-03-19)
|
||||
============================
|
||||
* Improve autofocus
|
||||
* Add check for MPC solution error
|
||||
* Make first distracted warning visual only
|
||||
|
||||
Version 0.4.3 (2018-03-13)
|
||||
==========================
|
||||
* Add HDR and autofocus
|
||||
* Update UI aesthetic
|
||||
* Grey panda works in Waze
|
||||
* Add alpha support for 2017 Honda Pilot
|
||||
* Slight increase in acceleration response from stop
|
||||
* Switch CAN sending to use CANPacker
|
||||
* Fix pulsing acceleration regression on Honda
|
||||
* Fix openpilot bugs when stock system is in use
|
||||
* Change starting logic for chffrplus to use battery voltage
|
||||
|
||||
Version 0.4.2 (2018-02-05)
|
||||
==========================
|
||||
* Add alpha support for 2017 Lexus RX Hybrid
|
||||
* Add alpha support for 2018 ACURA RDX
|
||||
* Updated fingerprint to include Toyota Rav4 SE and Prius Prime
|
||||
* Bugfixes for Acura ILX and Honda Odyssey
|
||||
|
||||
Version 0.4.1 (2018-01-30)
|
||||
==========================
|
||||
* Add alpha support for 2017 Toyota Corolla
|
||||
* Add alpha support for 2018 Honda Odyssey with Honda Sensing
|
||||
* Add alpha support for Grey Panda
|
||||
* Refactored car abstraction layer to make car ports easier
|
||||
* Increased steering torque limit on Honda CR-V by 30%
|
||||
|
||||
Version 0.4.0.2 (2018-01-18)
|
||||
==========================
|
||||
* Add focus adjustment slider
|
||||
* Minor bugfixes
|
||||
|
||||
Version 0.4.0.1 (2017-12-21)
|
||||
==========================
|
||||
* New UI to match chffrplus
|
||||
* Improved lateral control tuning to fix oscillations on Civic
|
||||
* Add alpha support for 2017 Toyota Rav4 Hybrid
|
||||
* Reduced CPU usage
|
||||
* Removed unnecessary utilization of fan at max speed
|
||||
* Minor bug fixes
|
||||
|
||||
Version 0.3.9 (2017-11-21)
|
||||
==========================
|
||||
* Add alpha support for 2017 Toyota Prius
|
||||
* Improved longitudinal control using model predictive control
|
||||
* Enable Forward Collision Warning
|
||||
* Acura ILX now maintains openpilot engaged at standstill when brakes are applied
|
||||
|
||||
Version 0.3.8.2 (2017-10-30)
|
||||
==========================
|
||||
* Add alpha support for 2017 Toyota RAV4
|
||||
* Smoother lateral control
|
||||
* Stay silent if stock system is connected through giraffe
|
||||
* Minor bug fixes
|
||||
|
||||
Version 0.3.7 (2017-09-30)
|
||||
==========================
|
||||
* Improved lateral control using model predictive control
|
||||
* Improved lane centering
|
||||
* Improved GPS
|
||||
* Reduced tendency of path deviation near right side exits
|
||||
* Enable engagement while the accelerator pedal is pressed
|
||||
* Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
|
||||
* Disable engagement when park brake or brake hold are active
|
||||
* Fixed sporadic longitudinal pulsing in Civic
|
||||
* Cleanups to vehicle interface
|
||||
|
||||
Version 0.3.6.1 (2017-08-15)
|
||||
============================
|
||||
* Mitigate low speed steering oscillations on some vehicles
|
||||
* Include board steering check for CR-V
|
||||
|
||||
Version 0.3.6 (2017-08-08)
|
||||
==========================
|
||||
* Fix alpha CR-V support
|
||||
* Improved GPS
|
||||
* Fix display of target speed not always matching HUD
|
||||
* Increased acceleration after stop
|
||||
* Mitigated some vehicles driving too close to the right line
|
||||
|
||||
Version 0.3.5 (2017-07-30)
|
||||
==========================
|
||||
* Fix bug where new devices would not begin calibration
|
||||
@@ -570,96 +14,97 @@ Version 0.3.4 (2017-07-28)
|
||||
|
||||
Version 0.3.3 (2017-06-28)
|
||||
===========================
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
|
||||
Version 0.3.2 (2017-05-22)
|
||||
===========================
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
|
||||
Version 0.3.1 (2017-05-17)
|
||||
===========================
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
|
||||
Version 0.3.0 (2017-05-12)
|
||||
===========================
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
|
||||
Version 0.2.9 (2017-03-01)
|
||||
===========================
|
||||
* Retain compatibility with NEOS v1
|
||||
* Retain compatibility with NEOS v1
|
||||
|
||||
Version 0.2.8 (2017-02-27)
|
||||
===========================
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
|
||||
Version 0.2.7 (2017-02-08)
|
||||
===========================
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
|
||||
Version 0.2.6 (2017-01-31)
|
||||
===========================
|
||||
* Fix bug in visiond model execution
|
||||
* Fix bug in visiond model execution
|
||||
|
||||
Version 0.2.5 (2017-01-30)
|
||||
===========================
|
||||
* Fix race condition in manager
|
||||
* Fix race condition in manager
|
||||
|
||||
Version 0.2.4 (2017-01-27)
|
||||
===========================
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
|
||||
Version 0.2.3 (2017-01-11)
|
||||
===========================
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
|
||||
Version 0.2.2 (2017-01-10)
|
||||
===========================
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
|
||||
Version 0.2.1 (2016-12-14)
|
||||
===========================
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
|
||||
Version 0.2 (2016-12-12)
|
||||
=========================
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
|
||||
Version 0.1 (2016-11-29)
|
||||
=========================
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
|
||||
|
||||
54
SAFETY.md
54
SAFETY.md
@@ -1,34 +1,36 @@
|
||||
openpilot Safety
|
||||
======
|
||||
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
|
||||
driver to be alert and to pay attention at all times.
|
||||
openpilot is an Adaptive Cruise Control and Lane Keeping Assist System. Like
|
||||
other ACC and LKAS systems, openpilot requires the driver to be alert and to pay
|
||||
attention at all times. We repeat, **driver alertness is necessary, but not
|
||||
sufficient, for openpilot to be used safely**.
|
||||
|
||||
In order to enforce driver alertness, openpilot includes a driver monitoring feature
|
||||
that alerts the driver when distracted.
|
||||
Even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We have designed openpilot with two other safety considerations.
|
||||
|
||||
However, even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
|
||||
used safely** and openpilot is provided with no warranty of fitness for any purpose.
|
||||
|
||||
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
|
||||
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
by stepping on either pedal or by pressing the cancel button.
|
||||
1. The vehicle must always be controllable by the driver.
|
||||
2. The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits.
|
||||
react.
|
||||
|
||||
For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
|
||||
To address these, we came up with two safety principles.
|
||||
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
1. Enforced disengagements. Step on either pedal or press the cancel button to
|
||||
retake manual control of the car immediately.
|
||||
- These are hard enforced by the board, and soft enforced by the software. The
|
||||
green led on the board signifies if the board is allowing control messages.
|
||||
- Honda CAN uses both a counter and a checksum to ensure integrity and prevent
|
||||
replay of the same message.
|
||||
|
||||
2. Actuation limits. While the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits; the same limits used by the stock system on
|
||||
the Honda.
|
||||
- Without an interceptor, the gas is controlled by the PCM. The PCM limits
|
||||
acceleration to what is reasonable for a cruise control system. With an
|
||||
interceptor, the gas is clipped to 60% in longcontrol.py
|
||||
- The brake is controlled by the 0x1FA CAN message. This message allows full
|
||||
braking, although the board and the software clip it to 1/4th of the max.
|
||||
This is around .3g of braking.
|
||||
- Steering is controlled by the 0xE4 CAN message. The EPS controller in the
|
||||
car limits the torque to a very small amount, so regardless of the message,
|
||||
the controller cannot jerk the wheel.
|
||||
|
||||
439
SConstruct
439
SConstruct
@@ -1,439 +0,0 @@
|
||||
import os
|
||||
import shutil
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import numpy as np
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
JETSON = os.path.isfile('/JETSON')
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--compile_db',
|
||||
action='store_true',
|
||||
help='build clang compilation database')
|
||||
|
||||
AddOption('--mpc-generate',
|
||||
action='store_true',
|
||||
help='regenerates the mpc sources')
|
||||
|
||||
AddOption('--snpe',
|
||||
action='store_true',
|
||||
help='use SNPE on PC')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
|
||||
if arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
|
||||
USE_MIPI = os.getenv("USE_MIPI") is not None
|
||||
if arch == "aarch64" and JETSON:
|
||||
arch = "jarch64"
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
|
||||
|
||||
if arch == "aarch64":
|
||||
# android
|
||||
lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
|
||||
lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
|
||||
|
||||
cpppath = [
|
||||
"#phonelibs/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/nanovg",
|
||||
]
|
||||
|
||||
if arch == "larch64":
|
||||
libpath += [
|
||||
"#phonelibs/snpe/larch64",
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cpppath += [
|
||||
"#selfdrive/camerad/include",
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath = ["/usr/local/lib"]
|
||||
else:
|
||||
libpath += [
|
||||
"#phonelibs/snpe/aarch64",
|
||||
"#phonelibs/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
]
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
rpath = []
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath = []
|
||||
|
||||
if arch == "jarch64":
|
||||
libpath = [
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
cflags = ["-DXNX", "-march=armv8.2-a"]
|
||||
cxxflags = ["-DXNX", "-march=armv8.2-a"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
elif arch == "Darwin":
|
||||
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
|
||||
libpath = [
|
||||
f"#phonelibs/libyuv/{yuv_dir}/lib",
|
||||
"/usr/local/lib",
|
||||
"/opt/homebrew/lib",
|
||||
"/usr/local/opt/openssl/lib",
|
||||
"/opt/homebrew/opt/openssl/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
"/opt/homebrew/include",
|
||||
"/usr/local/opt/openssl/include",
|
||||
"/opt/homebrew/opt/openssl/include"
|
||||
]
|
||||
else:
|
||||
libpath = [
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
"#phonelibs/libyuv/x64/lib",
|
||||
"#phonelibs/mapbox-gl-native-qt/x86_64",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
if arch != "jarch64":
|
||||
rpath += ["phonelibs/snpe/x86_64-linux-clang"]
|
||||
rpath += [
|
||||
"cereal",
|
||||
"selfdrive/common"
|
||||
]
|
||||
|
||||
# allows shared libraries to work globally
|
||||
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed"]
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
|
||||
env = Environment(
|
||||
ENV=lenv,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-deprecated-register",
|
||||
"-Wno-register",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#phonelibs/catch2/include",
|
||||
"#phonelibs/bzip2",
|
||||
"#phonelibs/libyuv/include",
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/curl/include",
|
||||
"#phonelibs/libgralloc/include",
|
||||
"#phonelibs/android_frameworks_native/include",
|
||||
"#phonelibs/android_hardware_libhardware/include",
|
||||
"#phonelibs/android_system_core/include",
|
||||
"#phonelibs/linux/include",
|
||||
"#phonelibs/snpe/include",
|
||||
"#phonelibs/mapbox-gl-native-qt/include",
|
||||
"#phonelibs/nanovg",
|
||||
"#phonelibs/qrcode",
|
||||
"#phonelibs",
|
||||
"#cereal",
|
||||
"#cereal/messaging",
|
||||
"#cereal/visionipc",
|
||||
"#opendbc/can",
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#cereal",
|
||||
"#phonelibs",
|
||||
"#opendbc/can",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
tools=["default", "cython", "compilation_db"],
|
||||
)
|
||||
|
||||
if GetOption('compile_db'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
# Setup cache dir
|
||||
cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
|
||||
CacheDir(cache_dir)
|
||||
Clean(["."], cache_dir)
|
||||
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
SHARED = False
|
||||
|
||||
def abspath(x):
|
||||
if arch == 'aarch64':
|
||||
pth = os.path.join("/data/pythonpath", x[0].path)
|
||||
env.Depends(pth, x)
|
||||
return File(pth)
|
||||
else:
|
||||
# rpath works elsewhere
|
||||
return x[0].path.rsplit("/", 1)[1][:-3]
|
||||
|
||||
# Cython build enviroment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(py_include)]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('envCython')
|
||||
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
|
||||
if arch != "aarch64":
|
||||
qt_modules += ["DBus"]
|
||||
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
if real_arch == "arm64":
|
||||
qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr/local/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
|
||||
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
|
||||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
elif arch == "aarch64":
|
||||
qt_env['QTDIR'] = "/system/comma/usr"
|
||||
qt_dirs = [
|
||||
f"/system/comma/usr/include/qt",
|
||||
]
|
||||
qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
qt_libs += ['EGL', 'GLESv3', 'c++_shared']
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr"
|
||||
qt_dirs = [
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
|
||||
]
|
||||
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64" or arch == "jarch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
|
||||
qt_env.Tool('qt')
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_QUICK_LIB",
|
||||
"-DQT_QUICKWIDGETS_LIB",
|
||||
"-DQT_QML_LIB",
|
||||
"-DQT_CORE_LIB"
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui']
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
zmq = 'zmq'
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
if SHARED:
|
||||
cereal = abspath([File('cereal/libcereal_shared.so')])
|
||||
messaging = abspath([File('cereal/libmessaging_shared.so')])
|
||||
else:
|
||||
cereal = [File('#cereal/libcereal.a')]
|
||||
messaging = [File('#cereal/libmessaging.a')]
|
||||
visionipc = [File('#cereal/libvisionipc.a')]
|
||||
|
||||
Export('cereal', 'messaging')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, gpucommon = abspath(common), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json11']
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'gpucommon', 'visionipc')
|
||||
|
||||
# Build rednose library and ekf models
|
||||
|
||||
rednose_config = {
|
||||
'generated_folder': '#selfdrive/locationd/models/generated',
|
||||
'to_build': {
|
||||
'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
|
||||
'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
|
||||
},
|
||||
}
|
||||
|
||||
if arch != "aarch64":
|
||||
rednose_config['to_build'].update({
|
||||
'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
|
||||
'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
|
||||
'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
|
||||
'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
|
||||
'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
|
||||
'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
|
||||
})
|
||||
|
||||
Export('rednose_config')
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build openpilot
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
SConscript(['panda/board/SConscript'])
|
||||
SConscript(['opendbc/can/SConscript'])
|
||||
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
SConscript(['common/SConscript'])
|
||||
SConscript(['common/kalman/SConscript'])
|
||||
SConscript(['common/transformations/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
BIN
apk/com.baseui.apk
Normal file
BIN
apk/com.baseui.apk
Normal file
Binary file not shown.
20
cereal/.gitignore
vendored
20
cereal/.gitignore
vendored
@@ -1,21 +1 @@
|
||||
gen
|
||||
node_modules
|
||||
package-lock.json
|
||||
*.tmp
|
||||
*.pyc
|
||||
__pycache__
|
||||
.*.swp
|
||||
.*.swo
|
||||
*.os
|
||||
*.o
|
||||
*.a
|
||||
|
||||
test_runner
|
||||
|
||||
libmessaging.*
|
||||
libmessaging_shared.*
|
||||
services.h
|
||||
.sconsign.dblite
|
||||
libcereal_shared.*
|
||||
.mypy_cache/
|
||||
catch2/
|
||||
|
||||
4
cereal/Makefile
Normal file
4
cereal/Makefile
Normal file
@@ -0,0 +1,4 @@
|
||||
-include build_from_src.mk
|
||||
|
||||
release:
|
||||
@echo "cereal: this is a release"
|
||||
@@ -1,84 +0,0 @@
|
||||
Import('env', 'envCython', 'arch', 'zmq')
|
||||
|
||||
import shutil
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
messaging_dir = Dir('messaging')
|
||||
|
||||
# Build cereal
|
||||
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.capnp']
|
||||
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
if shutil.which('capnpc-java'):
|
||||
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
schema_files,
|
||||
f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
|
||||
|
||||
# TODO: remove non shared cereal and messaging
|
||||
cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
env.Library('cereal', cereal_objects)
|
||||
env.SharedLibrary('cereal_shared', cereal_objects)
|
||||
|
||||
# Build messaging
|
||||
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
|
||||
messaging_objects = env.SharedObject([
|
||||
'messaging/messaging.cc',
|
||||
'messaging/impl_zmq.cc',
|
||||
'messaging/impl_msgq.cc',
|
||||
'messaging/msgq.cc',
|
||||
'messaging/socketmaster.cc',
|
||||
])
|
||||
|
||||
messaging_lib = env.Library('messaging', messaging_objects)
|
||||
Depends('messaging/impl_zmq.cc', services_h)
|
||||
|
||||
# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
|
||||
# TODO: get APK to load system zmq to remove the static link
|
||||
if arch == "aarch64":
|
||||
zmq_static = FindFile("libzmq.a", "/usr/lib")
|
||||
shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
|
||||
env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
|
||||
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
Depends('messaging/bridge.cc', services_h)
|
||||
|
||||
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
|
||||
|
||||
|
||||
# Build Vision IPC
|
||||
vipc_sources = [
|
||||
'visionipc/ipc.cc',
|
||||
'visionipc/visionipc_server.cc',
|
||||
'visionipc/visionipc_client.cc',
|
||||
'visionipc/visionbuf.cc',
|
||||
]
|
||||
|
||||
if arch in ["aarch64", "larch64"]:
|
||||
vipc_sources += ['visionipc/visionbuf_ion.cc']
|
||||
else:
|
||||
vipc_sources += ['visionipc/visionbuf_cl.cc']
|
||||
|
||||
vipc_objects = env.SharedObject(vipc_sources)
|
||||
vipc = env.Library('visionipc', vipc_objects)
|
||||
|
||||
|
||||
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
|
||||
if arch == "aarch64":
|
||||
libs += ["adreno_utils"]
|
||||
if arch == "Darwin":
|
||||
del libs[libs.index('OpenCL')]
|
||||
envCython['FRAMEWORKS'] += ['OpenCL']
|
||||
envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
|
||||
|
||||
|
||||
if GetOption('test'):
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
|
||||
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
|
||||
@@ -1,73 +0,0 @@
|
||||
import os
|
||||
import platform
|
||||
import subprocess
|
||||
import sysconfig
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
messaging_dir = Dir('./messaging')
|
||||
|
||||
cpppath = [
|
||||
cereal_dir,
|
||||
messaging_dir,
|
||||
'/usr/lib/include',
|
||||
'/opt/homebrew/include',
|
||||
sysconfig.get_paths()['include'],
|
||||
]
|
||||
|
||||
libpath = [
|
||||
'/opt/homebrew/lib',
|
||||
]
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
|
||||
ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
|
||||
|
||||
env = Environment(
|
||||
ENV=os.environ,
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
] + ccflags_asan,
|
||||
LDFLAGS=ldflags_asan,
|
||||
LINKFLAGS=ldflags_asan,
|
||||
|
||||
CFLAGS="-std=gnu11",
|
||||
CXXFLAGS="-std=c++1z",
|
||||
CPPPATH=cpppath,
|
||||
LIBPATH=libpath,
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
tools=["default", "cython"]
|
||||
)
|
||||
|
||||
Export('env', 'arch')
|
||||
|
||||
envCython = env.Clone(LIBS=[])
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(sysconfig.get_paths()['include'])]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('envCython')
|
||||
|
||||
|
||||
SConscript(['SConscript'])
|
||||
@@ -1,9 +1,20 @@
|
||||
# pylint: skip-file
|
||||
import os
|
||||
import capnp
|
||||
|
||||
CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
|
||||
capnp.remove_import_hook()
|
||||
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
if os.getenv("NEWCAPNP"):
|
||||
import tempfile
|
||||
import pyximport
|
||||
|
||||
importers = pyximport.install(build_dir=os.path.join(tempfile.gettempdir(), ".pyxbld"))
|
||||
try:
|
||||
import cereal.gen.cython.log_capnp_cython as log
|
||||
import cereal.gen.cython.car_capnp_cython as car
|
||||
finally:
|
||||
pyximport.uninstall(*importers)
|
||||
del importers
|
||||
else:
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
|
||||
45
cereal/build_from_src.mk
Normal file
45
cereal/build_from_src.mk
Normal file
@@ -0,0 +1,45 @@
|
||||
SRCS := log.capnp car.capnp
|
||||
|
||||
GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
|
||||
|
||||
|
||||
UNAME_M := $(shell uname -m)
|
||||
|
||||
# only generate C++ for docker tests
|
||||
ifneq ($(OPTEST),1)
|
||||
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
|
||||
|
||||
# Dont build java on the phone...
|
||||
ifeq ($(UNAME_M),x86_64)
|
||||
GENS += gen/java/Car.java gen/java/Log.java
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
.PHONY: all
|
||||
all: $(GENS)
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -rf gen
|
||||
|
||||
gen/c/%.capnp.c: %.capnp
|
||||
@echo "[ CAPNPC C ] $@"
|
||||
mkdir -p gen/c/
|
||||
capnpc '$<' -o c:gen/c/
|
||||
|
||||
gen/cpp/%.capnp.c++: %.capnp
|
||||
@echo "[ CAPNPC C++ ] $@"
|
||||
mkdir -p gen/cpp/
|
||||
capnpc '$<' -o c++:gen/cpp/
|
||||
|
||||
gen/java/Car.java gen/java/Log.java: $(SRCS)
|
||||
@echo "[ CAPNPC java ] $@"
|
||||
mkdir -p gen/java/
|
||||
capnpc $^ -o java:gen/java
|
||||
|
||||
# c-capnproto needs some empty headers
|
||||
gen/c/c++.capnp.h gen/c/java.capnp.h:
|
||||
mkdir -p gen/c/
|
||||
touch '$@'
|
||||
|
||||
519
cereal/car.capnp
519
cereal/car.capnp
@@ -1,161 +1,20 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
using Cxx = import "c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
using Java = import "java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Car");
|
||||
|
||||
@0x8e2af1e708af8b8d;
|
||||
|
||||
# ******* events causing controls state machine transition *******
|
||||
|
||||
struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
|
||||
enum EventName @0xbaa8c5d505f727de {
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
espDisabled @7;
|
||||
wrongCarMode @8;
|
||||
steerTempUnavailable @9;
|
||||
reverseGear @10;
|
||||
buttonCancel @11;
|
||||
buttonEnable @12;
|
||||
pedalPressed @13;
|
||||
cruiseDisabled @14;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
calibrationIncomplete @20;
|
||||
calibrationInvalid @21;
|
||||
controlsMismatch @22;
|
||||
pcmEnable @23;
|
||||
pcmDisable @24;
|
||||
noTarget @25;
|
||||
radarFault @26;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
plannerError @32;
|
||||
joystickDebug @34;
|
||||
steerTempUnavailableUserOverride @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
lowBattery @48;
|
||||
vehicleModelInvalid @50;
|
||||
accFaulted @51;
|
||||
sensorDataInvalid @52;
|
||||
commIssue @53;
|
||||
tooDistracted @54;
|
||||
posenetInvalid @55;
|
||||
soundsUnavailable @56;
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
communityFeatureDisallowed @62;
|
||||
lowMemory @63;
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
carUnrecognized @66;
|
||||
driverMonitorLowAcc @68;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
laneChangeBlocked @71;
|
||||
relayMalfunction @72;
|
||||
gasPressed @73;
|
||||
stockFcw @74;
|
||||
startup @75;
|
||||
startupNoCar @76;
|
||||
startupNoControl @77;
|
||||
startupMaster @78;
|
||||
startupFuzzyFingerprint @97;
|
||||
startupNoFw @104;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
wrongCruiseMode @87;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
gpsMalfunction @94;
|
||||
processNotRunning @95;
|
||||
dashcamMode @96;
|
||||
controlsInitializing @98;
|
||||
usbError @99;
|
||||
roadCameraError @100;
|
||||
driverCameraError @101;
|
||||
wideRoadCameraError @102;
|
||||
localizerMalfunction @103;
|
||||
|
||||
radarCanErrorDEPRECATED @15;
|
||||
radarCommIssueDEPRECATED @67;
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
internetConnectivityNeededDEPRECATED @61;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
|
||||
#dp
|
||||
preLaneChangeLeftALC @105;
|
||||
preLaneChangeRightALC @106;
|
||||
manualSteeringRequired @107;
|
||||
manualSteeringRequiredBlinkersOn @108;
|
||||
leadCarMoving @109;
|
||||
|
||||
# timebomb assist
|
||||
timebombWarn @110;
|
||||
timebombBypassing @111;
|
||||
timebombBypassed @112;
|
||||
}
|
||||
}
|
||||
|
||||
# ******* main car state @ 100hz *******
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
events @13 :List(CarEvent);
|
||||
errors @0: List(Error);
|
||||
|
||||
# car speed
|
||||
vEgo @1 :Float32; # best estimate of speed
|
||||
aEgo @16 :Float32; # best estimate of acceleration
|
||||
vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
|
||||
yawRate @22 :Float32; # best estimate of yaw rate
|
||||
standstill @18 :Bool;
|
||||
vEgo @1 :Float32; # best estimate of speed
|
||||
wheelSpeeds @2 :WheelSpeeds;
|
||||
|
||||
# gas pedal, 0.0-1.0
|
||||
@@ -167,49 +26,19 @@ struct CarState {
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
|
||||
# steering wheel
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
|
||||
steerWarning @35 :Bool; # temporary steer unavailble
|
||||
steerError @36 :Bool; # permanent steer error
|
||||
stockAeb @30 :Bool;
|
||||
stockFcw @31 :Bool;
|
||||
espDisabled @32 :Bool;
|
||||
steeringAngle @7 :Float32; # deg
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
|
||||
# gear
|
||||
gearShifter @14 :GearShifter;
|
||||
|
||||
# button presses
|
||||
buttonEvents @11 :List(ButtonEvent);
|
||||
leftBlinker @20 :Bool;
|
||||
rightBlinker @21 :Bool;
|
||||
genericToggle @23 :Bool;
|
||||
|
||||
# lock info
|
||||
doorOpen @24 :Bool;
|
||||
seatbeltUnlatched @25 :Bool;
|
||||
canValid @26 :Bool;
|
||||
|
||||
# clutch (manual transmission only)
|
||||
clutchPressed @28 :Bool;
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @12: List(UInt64);
|
||||
|
||||
# blindspot sensors
|
||||
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
|
||||
# dp
|
||||
lkMode @37 :Bool;
|
||||
stopSteering @38 :Bool; # timebomb - stopSteering
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
@@ -219,31 +48,31 @@ struct CarState {
|
||||
}
|
||||
|
||||
struct CruiseState {
|
||||
enabled @0 :Bool;
|
||||
speed @1 :Float32;
|
||||
available @2 :Bool;
|
||||
speedOffset @3 :Float32;
|
||||
standstill @4 :Bool;
|
||||
nonAdaptive @5 :Bool;
|
||||
enabled @0: Bool;
|
||||
speed @1: Float32;
|
||||
available @2: Bool;
|
||||
}
|
||||
|
||||
enum GearShifter {
|
||||
unknown @0;
|
||||
park @1;
|
||||
drive @2;
|
||||
neutral @3;
|
||||
reverse @4;
|
||||
sport @5;
|
||||
low @6;
|
||||
brake @7;
|
||||
eco @8;
|
||||
manumatic @9;
|
||||
enum Error {
|
||||
# TODO: copy from error list
|
||||
commIssue @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
gasUnavailable @3;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
espDisabled @7;
|
||||
wrongCarMode @8;
|
||||
steerTempUnavailable @9;
|
||||
reverseGear @10;
|
||||
# ...
|
||||
}
|
||||
|
||||
# send on change
|
||||
struct ButtonEvent {
|
||||
pressed @0 :Bool;
|
||||
type @1 :Type;
|
||||
pressed @0: Bool;
|
||||
type @1: Type;
|
||||
|
||||
enum Type {
|
||||
unknown @0;
|
||||
@@ -255,47 +84,36 @@ struct CarState {
|
||||
altButton1 @6;
|
||||
altButton2 @7;
|
||||
altButton3 @8;
|
||||
setCruise @9;
|
||||
resumeCruise @10;
|
||||
gapAdjustCruise @11;
|
||||
}
|
||||
}
|
||||
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
brakeLights @19 :Bool;
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
|
||||
struct RadarData @0x888ad6581cf0aacb {
|
||||
errors @0 :List(Error);
|
||||
points @1 :List(RadarPoint);
|
||||
struct RadarState {
|
||||
errors @0: List(Error);
|
||||
points @1: List(RadarPoint);
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @2 :List(UInt64);
|
||||
canMonoTimes @2: List(UInt64);
|
||||
|
||||
enum Error {
|
||||
canError @0;
|
||||
fault @1;
|
||||
wrongConfig @2;
|
||||
notValid @0;
|
||||
}
|
||||
|
||||
# similar to LiveTracks
|
||||
# is one timestamp valid for all? I think so
|
||||
struct RadarPoint {
|
||||
trackId @0 :UInt64; # no trackId reuse
|
||||
trackId @0: UInt64; # no trackId reuse
|
||||
|
||||
# these 3 are the minimum required
|
||||
dRel @1 :Float32; # m from the front bumper of the car
|
||||
yRel @2 :Float32; # m
|
||||
vRel @3 :Float32; # m/s
|
||||
dRel @1: Float32; # m from the front bumper of the car
|
||||
yRel @2: Float32; # m
|
||||
vRel @3: Float32; # m/s
|
||||
|
||||
# these are optional and valid if they are not NaN
|
||||
aRel @4 :Float32; # m/s^2
|
||||
yvRel @5 :Float32; # m/s
|
||||
|
||||
# some radars flag measurements VS estimates
|
||||
measured @6 :Bool;
|
||||
aRel @4: Float32; # m/s^2
|
||||
yvRel @5: Float32; # m/s
|
||||
}
|
||||
}
|
||||
|
||||
@@ -303,22 +121,17 @@ struct RadarData @0x888ad6581cf0aacb {
|
||||
|
||||
struct CarControl {
|
||||
# must be true for any actuator commands to work
|
||||
enabled @0 :Bool;
|
||||
active @7 :Bool;
|
||||
enabled @0: Bool;
|
||||
|
||||
actuators @6 :Actuators;
|
||||
# range from 0.0 - 1.0
|
||||
gas @1: Float32;
|
||||
brake @2: Float32;
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
hudControl @5 :HUDControl;
|
||||
# range from -1.0 - 1.0
|
||||
steeringTorque @3 :Float32;
|
||||
|
||||
struct Actuators {
|
||||
# range from 0.0 - 1.0
|
||||
gas @0: Float32;
|
||||
brake @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
steeringAngleDeg @3: Float32;
|
||||
}
|
||||
cruiseControl @4: CruiseControl;
|
||||
hudControl @5: HUDControl;
|
||||
|
||||
struct CruiseControl {
|
||||
cancel @0: Bool;
|
||||
@@ -334,10 +147,6 @@ struct CarControl {
|
||||
leadVisible @3: Bool;
|
||||
visualAlert @4: VisualAlert;
|
||||
audibleAlert @5: AudibleAlert;
|
||||
rightLaneVisible @6: Bool;
|
||||
leftLaneVisible @7: Bool;
|
||||
rightLaneDepart @8: Bool;
|
||||
leftLaneDepart @9: Bool;
|
||||
|
||||
enum VisualAlert {
|
||||
# these are the choices from the Honda
|
||||
@@ -349,236 +158,46 @@ struct CarControl {
|
||||
wrongGear @4;
|
||||
seatbeltUnbuckled @5;
|
||||
speedTooHigh @6;
|
||||
ldw @7;
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
chimeEngage @1;
|
||||
chimeDisengage @2;
|
||||
chimeError @3;
|
||||
chimeWarning1 @4;
|
||||
chimeWarning2 @5;
|
||||
chimeWarningRepeat @6;
|
||||
chimePrompt @7;
|
||||
chimeWarning2Repeat @8;
|
||||
beepSingle @1;
|
||||
beepTriple @2;
|
||||
beepRepeated @3;
|
||||
chimeSingle @4;
|
||||
chimeDouble @5;
|
||||
chimeRepeated @6;
|
||||
chimeContinuous @7;
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
|
||||
struct CarParams {
|
||||
carName @0 :Text;
|
||||
carFingerprint @1 :Text;
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
carName @0: Text;
|
||||
radarName @1: Text;
|
||||
carFingerprint @11: Text;
|
||||
|
||||
enableGasInterceptor @2 :Bool;
|
||||
enableCruise @3 :Bool;
|
||||
enableCamera @4 :Bool;
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableApgs @6 :Bool; # advanced parking guidance system
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
hasStockCamera @57 :Bool; # factory LKAS/LDW camera is present
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
maxSteeringAngleDeg @54 :Float32;
|
||||
safetyModel @9 :SafetyModel;
|
||||
safetyModelPassive @42 :SafetyModel = silent;
|
||||
safetyParam @10 :Int16;
|
||||
|
||||
steerMaxBP @11 :List(Float32);
|
||||
steerMaxV @12 :List(Float32);
|
||||
gasMaxBP @13 :List(Float32);
|
||||
gasMaxV @14 :List(Float32);
|
||||
brakeMaxBP @15 :List(Float32);
|
||||
brakeMaxV @16 :List(Float32);
|
||||
enableSteer @2: Bool;
|
||||
enableGas @3: Bool;
|
||||
enableBrake @4: Bool;
|
||||
enableCruise @5: Bool;
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
|
||||
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
|
||||
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
|
||||
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
|
||||
wheelBase @6: Float32; # in meters
|
||||
steerRatio @7: Float32;
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
|
||||
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
|
||||
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
|
||||
slipFactor @8: Float32;
|
||||
|
||||
longitudinalTuning @25 :LongitudinalPIDTuning;
|
||||
lateralParams @48 :LateralParams;
|
||||
lateralTuning :union {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indi @27 :LateralINDITuning;
|
||||
lqr @40 :LateralLQRTuning;
|
||||
}
|
||||
# Kp and Ki for the lateral control
|
||||
steerKp @9: Float32;
|
||||
steerKi @10: Float32;
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
|
||||
|
||||
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
|
||||
directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
|
||||
stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
|
||||
startAccel @32 :Float32; # Required acceleraton to overcome creep braking
|
||||
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
|
||||
stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
|
||||
startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
dashcamOnly @41: Bool;
|
||||
transmissionType @43 :TransmissionType;
|
||||
carFw @44 :List(CarFw);
|
||||
|
||||
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
|
||||
communityFeature @46: Bool; # true if a community maintained feature is detected
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
|
||||
|
||||
struct LateralParams {
|
||||
torqueBP @0 :List(Int32);
|
||||
torqueV @1 :List(Int32);
|
||||
}
|
||||
|
||||
struct LateralPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kf @4 :Float32;
|
||||
}
|
||||
|
||||
struct LongitudinalPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
deadzoneBP @4 :List(Float32);
|
||||
deadzoneV @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
outerLoopGainBP @4 :List(Float32);
|
||||
outerLoopGainV @5 :List(Float32);
|
||||
innerLoopGainBP @6 :List(Float32);
|
||||
innerLoopGainV @7 :List(Float32);
|
||||
timeConstantBP @8 :List(Float32);
|
||||
timeConstantV @9 :List(Float32);
|
||||
actuatorEffectivenessBP @10 :List(Float32);
|
||||
actuatorEffectivenessV @11 :List(Float32);
|
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32;
|
||||
innerLoopGainDEPRECATED @1 :Float32;
|
||||
timeConstantDEPRECATED @2 :Float32;
|
||||
actuatorEffectivenessDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
scale @0 :Float32;
|
||||
ki @1 :Float32;
|
||||
dcGain @2 :Float32;
|
||||
|
||||
# State space system
|
||||
a @3 :List(Float32);
|
||||
b @4 :List(Float32);
|
||||
c @5 :List(Float32);
|
||||
|
||||
k @6 :List(Float32); # LQR gain
|
||||
l @7 :List(Float32); # Kalman gain
|
||||
}
|
||||
|
||||
enum SafetyModel {
|
||||
silent @0;
|
||||
hondaNidec @1;
|
||||
toyota @2;
|
||||
elm327 @3;
|
||||
gm @4;
|
||||
hondaBoschGiraffe @5;
|
||||
ford @6;
|
||||
cadillac @7;
|
||||
hyundai @8;
|
||||
chrysler @9;
|
||||
tesla @10;
|
||||
subaru @11;
|
||||
gmPassive @12;
|
||||
mazda @13;
|
||||
nissan @14;
|
||||
volkswagen @15;
|
||||
toyotaIpas @16;
|
||||
allOutput @17;
|
||||
gmAscm @18;
|
||||
noOutput @19; # like silent but without silent CAN TXs
|
||||
hondaBoschHarness @20;
|
||||
volkswagenPq @21;
|
||||
subaruLegacy @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
torque @0;
|
||||
angle @1;
|
||||
}
|
||||
|
||||
enum TransmissionType {
|
||||
unknown @0;
|
||||
automatic @1; # Traditional auto, including DSG
|
||||
manual @2; # True "stick shift" only
|
||||
direct @3; # Electric vehicle or other direct drive
|
||||
cvt @4;
|
||||
}
|
||||
|
||||
struct CarFw {
|
||||
ecu @0 :Ecu;
|
||||
fwVersion @1 :Data;
|
||||
address @2: UInt32;
|
||||
subAddress @3: UInt8;
|
||||
}
|
||||
|
||||
enum Ecu {
|
||||
eps @0;
|
||||
esp @1;
|
||||
fwdRadar @2;
|
||||
fwdCamera @3;
|
||||
engine @4;
|
||||
unknown @5;
|
||||
transmission @8; # Transmission Control Module
|
||||
srs @9; # airbag
|
||||
gateway @10; # can gateway
|
||||
hud @11; # heads up display
|
||||
combinationMeter @12; # instrument cluster
|
||||
|
||||
# Toyota only
|
||||
dsu @6;
|
||||
apgs @7;
|
||||
|
||||
# Honda only
|
||||
vsa @13; # Vehicle Stability Assist
|
||||
programmedFuelInjection @14;
|
||||
electricBrakeBooster @15;
|
||||
shiftByWire @16;
|
||||
}
|
||||
|
||||
enum FingerprintSource {
|
||||
can @0;
|
||||
fw @1;
|
||||
fixed @2;
|
||||
}
|
||||
|
||||
enum NetworkLocation {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
isPandaBlackDEPRECATED @39: Bool;
|
||||
# TODO: Kp and Ki for long control, perhaps not needed?
|
||||
}
|
||||
|
||||
|
||||
@@ -1,57 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("dp");
|
||||
|
||||
@0xbfa7e645486440c7;
|
||||
|
||||
# dp.capnp: a home for deprecated structs
|
||||
|
||||
# dp
|
||||
struct DragonConf {
|
||||
dpThermalStarted @0 :Bool;
|
||||
dpThermalOverheat @1 :Bool;
|
||||
dpAtl @2 :Bool;
|
||||
dpDashcamd @3 :Bool;
|
||||
dpAutoShutdown @4 :Bool;
|
||||
dpAthenad @5 :Bool;
|
||||
dpUploader @6 :Bool;
|
||||
dpLateralMode @7 :UInt8;
|
||||
dpSignalOffDelay @8 :Float32;
|
||||
dpLcMinMph @9 :UInt8;
|
||||
dpLcAutoCont @10 :Bool;
|
||||
dpLcAutoMinMph @11 :UInt8;
|
||||
dpLcAutoDelay @12 :Float32;
|
||||
dpAllowGas @13 :Bool;
|
||||
dpFollowingProfileCtrl @14 :Bool;
|
||||
dpFollowingProfile @15 :UInt8;
|
||||
dpAccelProfileCtrl @16 :Bool;
|
||||
dpAccelProfile @17 :UInt8;
|
||||
dpGearCheck @18 :Bool;
|
||||
dpSpeedCheck @19 :Bool;
|
||||
dpUiDisplayMode @20 :UInt8;
|
||||
dpUiSpeed @21 :Bool;
|
||||
dpUiEvent @22 :Bool;
|
||||
dpUiMaxSpeed @23 :Bool;
|
||||
dpUiFace @24 :Bool;
|
||||
dpUiLane @25 :Bool;
|
||||
dpUiLead @26 :Bool;
|
||||
dpUiDev @27 :Bool;
|
||||
dpUiDevMini @28 :Bool;
|
||||
dpUiBlinker @29 :Bool;
|
||||
dpUiBrightness @30 :UInt8;
|
||||
dpUiVolume @31 :Int8;
|
||||
dpToyotaLdw @32 :Bool;
|
||||
dpToyotaSng @33 :Bool;
|
||||
dpVwTimebombAssist @34 :Bool;
|
||||
dpIpAddr @35 :Text;
|
||||
dpCameraOffset @36 :Int8;
|
||||
dpPathOffset @37 :Int8;
|
||||
dpLocale @38 :Text;
|
||||
dpSrLearner @39 :Bool;
|
||||
dpSrCustom @40 :Float32;
|
||||
dpAppd @41 :Bool;
|
||||
dpDebug @42 :Bool;
|
||||
}
|
||||
@@ -1,865 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Legacy");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct QcomGnss @0xde94674b07ae51c1 {
|
||||
logTs @0 :UInt64;
|
||||
union {
|
||||
measurementReport @1 :MeasurementReport;
|
||||
clockReport @2 :ClockReport;
|
||||
drMeasurementReport @3 :DrMeasurementReport;
|
||||
drSvPoly @4 :DrSvPolyReport;
|
||||
rawLog @5 :Data;
|
||||
}
|
||||
|
||||
enum MeasurementSource @0xd71a12b6faada7ee {
|
||||
gps @0;
|
||||
glonass @1;
|
||||
beidou @2;
|
||||
}
|
||||
|
||||
enum SVObservationState @0xe81e829a0d6c83e9 {
|
||||
idle @0;
|
||||
search @1;
|
||||
searchVerify @2;
|
||||
bitEdge @3;
|
||||
trackVerify @4;
|
||||
track @5;
|
||||
restart @6;
|
||||
dpo @7;
|
||||
glo10msBe @8;
|
||||
glo10msAt @9;
|
||||
}
|
||||
|
||||
struct MeasurementStatus @0xe501010e1bcae83b {
|
||||
subMillisecondIsValid @0 :Bool;
|
||||
subBitTimeIsKnown @1 :Bool;
|
||||
satelliteTimeIsKnown @2 :Bool;
|
||||
bitEdgeConfirmedFromSignal @3 :Bool;
|
||||
measuredVelocity @4 :Bool;
|
||||
fineOrCoarseVelocity @5 :Bool;
|
||||
lockPointValid @6 :Bool;
|
||||
lockPointPositive @7 :Bool;
|
||||
lastUpdateFromDifference @8 :Bool;
|
||||
lastUpdateFromVelocityDifference @9 :Bool;
|
||||
strongIndicationOfCrossCorelation @10 :Bool;
|
||||
tentativeMeasurement @11 :Bool;
|
||||
measurementNotUsable @12 :Bool;
|
||||
sirCheckIsNeeded @13 :Bool;
|
||||
probationMode @14 :Bool;
|
||||
|
||||
glonassMeanderBitEdgeValid @15 :Bool;
|
||||
glonassTimeMarkValid @16 :Bool;
|
||||
|
||||
gpsRoundRobinRxDiversity @17 :Bool;
|
||||
gpsRxDiversity @18 :Bool;
|
||||
gpsLowBandwidthRxDiversityCombined @19 :Bool;
|
||||
gpsHighBandwidthNu4 @20 :Bool;
|
||||
gpsHighBandwidthNu8 @21 :Bool;
|
||||
gpsHighBandwidthUniform @22 :Bool;
|
||||
multipathIndicator @23 :Bool;
|
||||
|
||||
imdJammingIndicator @24 :Bool;
|
||||
lteB13TxJammingIndicator @25 :Bool;
|
||||
freshMeasurementIndicator @26 :Bool;
|
||||
|
||||
multipathEstimateIsValid @27 :Bool;
|
||||
directionIsValid @28 :Bool;
|
||||
}
|
||||
|
||||
struct MeasurementReport @0xf580d7d86b7b8692 {
|
||||
source @0 :MeasurementSource;
|
||||
|
||||
fCount @1 :UInt32;
|
||||
|
||||
gpsWeek @2 :UInt16;
|
||||
glonassCycleNumber @3 :UInt8;
|
||||
glonassNumberOfDays @4 :UInt16;
|
||||
|
||||
milliseconds @5 :UInt32;
|
||||
timeBias @6 :Float32;
|
||||
clockTimeUncertainty @7 :Float32;
|
||||
clockFrequencyBias @8 :Float32;
|
||||
clockFrequencyUncertainty @9 :Float32;
|
||||
|
||||
sv @10 :List(SV);
|
||||
|
||||
struct SV @0xf10c595ae7bb2c27 {
|
||||
svId @0 :UInt8;
|
||||
observationState @2 :SVObservationState;
|
||||
observations @3 :UInt8;
|
||||
goodObservations @4 :UInt8;
|
||||
gpsParityErrorCount @5 :UInt16;
|
||||
glonassFrequencyIndex @1 :Int8;
|
||||
glonassHemmingErrorCount @6 :UInt8;
|
||||
filterStages @7 :UInt8;
|
||||
carrierNoise @8 :UInt16;
|
||||
latency @9 :Int16;
|
||||
predetectInterval @10 :UInt8;
|
||||
postdetections @11 :UInt16;
|
||||
|
||||
unfilteredMeasurementIntegral @12 :UInt32;
|
||||
unfilteredMeasurementFraction @13 :Float32;
|
||||
unfilteredTimeUncertainty @14 :Float32;
|
||||
unfilteredSpeed @15 :Float32;
|
||||
unfilteredSpeedUncertainty @16 :Float32;
|
||||
measurementStatus @17 :MeasurementStatus;
|
||||
multipathEstimate @18 :UInt32;
|
||||
azimuth @19 :Float32;
|
||||
elevation @20 :Float32;
|
||||
carrierPhaseCyclesIntegral @21 :Int32;
|
||||
carrierPhaseCyclesFraction @22 :UInt16;
|
||||
fineSpeed @23 :Float32;
|
||||
fineSpeedUncertainty @24 :Float32;
|
||||
cycleSlipCount @25 :UInt8;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct ClockReport @0xca965e4add8f4f0b {
|
||||
hasFCount @0 :Bool;
|
||||
fCount @1 :UInt32;
|
||||
|
||||
hasGpsWeek @2 :Bool;
|
||||
gpsWeek @3 :UInt16;
|
||||
hasGpsMilliseconds @4 :Bool;
|
||||
gpsMilliseconds @5 :UInt32;
|
||||
gpsTimeBias @6 :Float32;
|
||||
gpsClockTimeUncertainty @7 :Float32;
|
||||
gpsClockSource @8 :UInt8;
|
||||
|
||||
hasGlonassYear @9 :Bool;
|
||||
glonassYear @10 :UInt8;
|
||||
hasGlonassDay @11 :Bool;
|
||||
glonassDay @12 :UInt16;
|
||||
hasGlonassMilliseconds @13 :Bool;
|
||||
glonassMilliseconds @14 :UInt32;
|
||||
glonassTimeBias @15 :Float32;
|
||||
glonassClockTimeUncertainty @16 :Float32;
|
||||
glonassClockSource @17 :UInt8;
|
||||
|
||||
bdsWeek @18 :UInt16;
|
||||
bdsMilliseconds @19 :UInt32;
|
||||
bdsTimeBias @20 :Float32;
|
||||
bdsClockTimeUncertainty @21 :Float32;
|
||||
bdsClockSource @22 :UInt8;
|
||||
|
||||
galWeek @23 :UInt16;
|
||||
galMilliseconds @24 :UInt32;
|
||||
galTimeBias @25 :Float32;
|
||||
galClockTimeUncertainty @26 :Float32;
|
||||
galClockSource @27 :UInt8;
|
||||
|
||||
clockFrequencyBias @28 :Float32;
|
||||
clockFrequencyUncertainty @29 :Float32;
|
||||
frequencySource @30 :UInt8;
|
||||
gpsLeapSeconds @31 :UInt8;
|
||||
gpsLeapSecondsUncertainty @32 :UInt8;
|
||||
gpsLeapSecondsSource @33 :UInt8;
|
||||
|
||||
gpsToGlonassTimeBiasMilliseconds @34 :Float32;
|
||||
gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
|
||||
gpsToBdsTimeBiasMilliseconds @36 :Float32;
|
||||
gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
|
||||
bdsToGloTimeBiasMilliseconds @38 :Float32;
|
||||
bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
|
||||
gpsToGalTimeBiasMilliseconds @40 :Float32;
|
||||
gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
|
||||
galToGloTimeBiasMilliseconds @42 :Float32;
|
||||
galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
|
||||
galToBdsTimeBiasMilliseconds @44 :Float32;
|
||||
galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
|
||||
|
||||
hasRtcTime @46 :Bool;
|
||||
systemRtcTime @47 :UInt32;
|
||||
fCountOffset @48 :UInt32;
|
||||
lpmRtcCount @49 :UInt32;
|
||||
clockResets @50 :UInt32;
|
||||
}
|
||||
|
||||
struct DrMeasurementReport @0x8053c39445c6c75c {
|
||||
|
||||
reason @0 :UInt8;
|
||||
seqNum @1 :UInt8;
|
||||
seqMax @2 :UInt8;
|
||||
rfLoss @3 :UInt16;
|
||||
|
||||
systemRtcValid @4 :Bool;
|
||||
fCount @5 :UInt32;
|
||||
clockResets @6 :UInt32;
|
||||
systemRtcTime @7 :UInt64;
|
||||
|
||||
gpsLeapSeconds @8 :UInt8;
|
||||
gpsLeapSecondsUncertainty @9 :UInt8;
|
||||
gpsToGlonassTimeBiasMilliseconds @10 :Float32;
|
||||
gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
|
||||
|
||||
gpsWeek @12 :UInt16;
|
||||
gpsMilliseconds @13 :UInt32;
|
||||
gpsTimeBiasMs @14 :UInt32;
|
||||
gpsClockTimeUncertaintyMs @15 :UInt32;
|
||||
gpsClockSource @16 :UInt8;
|
||||
|
||||
glonassClockSource @17 :UInt8;
|
||||
glonassYear @18 :UInt8;
|
||||
glonassDay @19 :UInt16;
|
||||
glonassMilliseconds @20 :UInt32;
|
||||
glonassTimeBias @21 :Float32;
|
||||
glonassClockTimeUncertainty @22 :Float32;
|
||||
|
||||
clockFrequencyBias @23 :Float32;
|
||||
clockFrequencyUncertainty @24 :Float32;
|
||||
frequencySource @25 :UInt8;
|
||||
|
||||
source @26 :MeasurementSource;
|
||||
|
||||
sv @27 :List(SV);
|
||||
|
||||
struct SV @0xf08b81df8cbf459c {
|
||||
svId @0 :UInt8;
|
||||
glonassFrequencyIndex @1 :Int8;
|
||||
observationState @2 :SVObservationState;
|
||||
observations @3 :UInt8;
|
||||
goodObservations @4 :UInt8;
|
||||
filterStages @5 :UInt8;
|
||||
predetectInterval @6 :UInt8;
|
||||
cycleSlipCount @7 :UInt8;
|
||||
postdetections @8 :UInt16;
|
||||
|
||||
measurementStatus @9 :MeasurementStatus;
|
||||
|
||||
carrierNoise @10 :UInt16;
|
||||
rfLoss @11 :UInt16;
|
||||
latency @12 :Int16;
|
||||
|
||||
filteredMeasurementFraction @13 :Float32;
|
||||
filteredMeasurementIntegral @14 :UInt32;
|
||||
filteredTimeUncertainty @15 :Float32;
|
||||
filteredSpeed @16 :Float32;
|
||||
filteredSpeedUncertainty @17 :Float32;
|
||||
|
||||
unfilteredMeasurementFraction @18 :Float32;
|
||||
unfilteredMeasurementIntegral @19 :UInt32;
|
||||
unfilteredTimeUncertainty @20 :Float32;
|
||||
unfilteredSpeed @21 :Float32;
|
||||
unfilteredSpeedUncertainty @22 :Float32;
|
||||
|
||||
multipathEstimate @23 :UInt32;
|
||||
azimuth @24 :Float32;
|
||||
elevation @25 :Float32;
|
||||
dopplerAcceleration @26 :Float32;
|
||||
fineSpeed @27 :Float32;
|
||||
fineSpeedUncertainty @28 :Float32;
|
||||
|
||||
carrierPhase @29 :Float64;
|
||||
fCount @30 :UInt32;
|
||||
|
||||
parityErrorCount @31 :UInt16;
|
||||
goodParity @32 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct DrSvPolyReport @0xb1fb80811a673270 {
|
||||
svId @0 :UInt16;
|
||||
frequencyIndex @1 :Int8;
|
||||
|
||||
hasPosition @2 :Bool;
|
||||
hasIono @3 :Bool;
|
||||
hasTropo @4 :Bool;
|
||||
hasElevation @5 :Bool;
|
||||
polyFromXtra @6 :Bool;
|
||||
hasSbasIono @7 :Bool;
|
||||
|
||||
iode @8 :UInt16;
|
||||
t0 @9 :Float64;
|
||||
xyz0 @10 :List(Float64);
|
||||
xyzN @11 :List(Float64);
|
||||
other @12 :List(Float32);
|
||||
|
||||
positionUncertainty @13 :Float32;
|
||||
ionoDelay @14 :Float32;
|
||||
ionoDot @15 :Float32;
|
||||
sbasIonoDelay @16 :Float32;
|
||||
sbasIonoDot @17 :Float32;
|
||||
tropoDelay @18 :Float32;
|
||||
elevation @19 :Float32;
|
||||
elevationDot @20 :Float32;
|
||||
elevationUncertainty @21 :Float32;
|
||||
velocityCoeff @22 :List(Float64);
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
|
||||
1483
cereal/log.capnp
1483
cereal/log.capnp
File diff suppressed because it is too large
Load Diff
10
cereal/messaging/.gitignore
vendored
10
cereal/messaging/.gitignore
vendored
@@ -1,10 +0,0 @@
|
||||
demo
|
||||
bridge
|
||||
test_runner
|
||||
*.o
|
||||
*.os
|
||||
*.d
|
||||
*.a
|
||||
*.so
|
||||
messaging_pyx.cpp
|
||||
build/
|
||||
@@ -1,247 +0,0 @@
|
||||
# must be build with scons
|
||||
from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
import os
|
||||
import capnp
|
||||
|
||||
from typing import Optional, List, Union
|
||||
from collections import deque
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
|
||||
AVG_FREQ_HISTORY = 100
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
|
||||
# sec_since_boot is faster, but allow to run standalone too
|
||||
try:
|
||||
from common.realtime import sec_since_boot
|
||||
except ImportError:
|
||||
import time
|
||||
sec_since_boot = time.time
|
||||
print("Warning, using python time.time() instead of faster sec_since_boot")
|
||||
|
||||
context = Context()
|
||||
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
dat.valid = True
|
||||
if service is not None:
|
||||
if size is None:
|
||||
dat.init(service)
|
||||
else:
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
sock = PubSocket()
|
||||
sock.connect(context, endpoint)
|
||||
return sock
|
||||
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
sock = SubSocket()
|
||||
sock.connect(context, endpoint, addr.encode('utf8'), conflate)
|
||||
|
||||
if timeout is not None:
|
||||
sock.setTimeout(timeout)
|
||||
|
||||
if poller is not None:
|
||||
poller.registerSocket(sock)
|
||||
return sock
|
||||
|
||||
|
||||
def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret: List[bytes] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
else:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
|
||||
if dat is None:
|
||||
break
|
||||
|
||||
ret.append(dat)
|
||||
|
||||
return ret
|
||||
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret: List[capnp.lib.capnp._DynamicStructReader] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
else:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
|
||||
if dat is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = log.Event.from_bytes(dat)
|
||||
ret.append(dat)
|
||||
|
||||
return ret
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
while 1:
|
||||
if wait and dat is None:
|
||||
rcv = sock.receive()
|
||||
else:
|
||||
rcv = sock.receive(non_blocking=True)
|
||||
|
||||
if rcv is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = rcv
|
||||
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log.Event.from_bytes(dat)
|
||||
|
||||
class SubMaster():
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
addr: str = "127.0.0.1"):
|
||||
self.frame = -1
|
||||
self.updated = {s: False for s in services}
|
||||
self.rcv_time = {s: 0. for s in services}
|
||||
self.rcv_frame = {s: 0 for s in services}
|
||||
self.alive = {s: False for s in services}
|
||||
self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
|
||||
self.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
self.valid = {}
|
||||
self.logMonoTime = {}
|
||||
|
||||
self.poller = Poller()
|
||||
self.non_polled_services = [s for s in services if poll is not None and
|
||||
len(poll) and s not in poll]
|
||||
|
||||
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
|
||||
self.ignore_alive = [] if ignore_alive is None else ignore_alive
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
p = self.poller if s not in self.non_polled_services else None
|
||||
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
|
||||
self.freq[s] = service_list[s].frequency
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data, s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = data.valid
|
||||
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def update(self, timeout: int = 1000) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
msgs.append(recv_one_or_none(sock))
|
||||
|
||||
# non-blocking receive for non-polled sockets
|
||||
for s in self.non_polled_services:
|
||||
msgs.append(recv_one_or_none(self.sock[s]))
|
||||
self.update_msgs(sec_since_boot(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.updated, False)
|
||||
for msg in msgs:
|
||||
if msg is None:
|
||||
continue
|
||||
|
||||
s = msg.which()
|
||||
self.updated[s] = True
|
||||
|
||||
if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
|
||||
and (s not in self.ignore_average_freq):
|
||||
self.recv_dts[s].append(cur_time - self.rcv_time[s])
|
||||
|
||||
self.rcv_time[s] = cur_time
|
||||
self.rcv_frame[s] = self.frame
|
||||
self.data[s] = getattr(msg, s)
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
if SIMULATION:
|
||||
self.alive[s] = True
|
||||
|
||||
if not SIMULATION:
|
||||
for s in self.data:
|
||||
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
|
||||
if self.freq[s] > 1e-5:
|
||||
# alive if delay is within 10x the expected frequency
|
||||
self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
|
||||
|
||||
# alive if average frequency is higher than 90% of expected frequency
|
||||
avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
|
||||
expected_dt = 1 / (self.freq[s] * 0.90)
|
||||
self.alive[s] = self.alive[s] and (avg_dt < expected_dt)
|
||||
else:
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.valid.keys()
|
||||
return all(self.valid[s] for s in service_list)
|
||||
|
||||
def all_alive_and_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
|
||||
|
||||
class PubMaster():
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated()
|
||||
@@ -1,64 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <map>
|
||||
|
||||
typedef void (*sighandler_t)(int sig);
|
||||
|
||||
#include "services.h"
|
||||
|
||||
#include "impl_msgq.h"
|
||||
#include "impl_zmq.h"
|
||||
|
||||
void sigpipe_handler(int sig) {
|
||||
assert(sig == SIGPIPE);
|
||||
std::cout << "SIGPIPE received" << std::endl;
|
||||
}
|
||||
|
||||
static std::vector<std::string> get_services() {
|
||||
std::vector<std::string> name_list;
|
||||
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.name;
|
||||
if (name == "plusFrame" || name == "uiLayoutState") continue;
|
||||
name_list.push_back(name);
|
||||
}
|
||||
|
||||
return name_list;
|
||||
}
|
||||
|
||||
|
||||
int main(void){
|
||||
signal(SIGPIPE, (sighandler_t)sigpipe_handler);
|
||||
|
||||
auto endpoints = get_services();
|
||||
|
||||
std::map<SubSocket*, PubSocket*> sub2pub;
|
||||
|
||||
Context *zmq_context = new ZMQContext();
|
||||
Context *msgq_context = new MSGQContext();
|
||||
Poller *poller = new MSGQPoller();
|
||||
|
||||
for (auto endpoint: endpoints){
|
||||
SubSocket * msgq_sock = new MSGQSubSocket();
|
||||
msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false);
|
||||
poller->registerSocket(msgq_sock);
|
||||
|
||||
PubSocket * zmq_sock = new ZMQPubSocket();
|
||||
zmq_sock->connect(zmq_context, endpoint);
|
||||
|
||||
sub2pub[msgq_sock] = zmq_sock;
|
||||
}
|
||||
|
||||
|
||||
while (true){
|
||||
for (auto sub_sock : poller->poll(100)){
|
||||
Message * msg = sub_sock->receive();
|
||||
if (msg == NULL) continue;
|
||||
sub2pub[sub_sock]->sendMessage(msg);
|
||||
delete msg;
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -1,230 +0,0 @@
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <iostream>
|
||||
#include <cstdlib>
|
||||
#include <csignal>
|
||||
#include <cerrno>
|
||||
|
||||
#include "services.h"
|
||||
#include "impl_msgq.h"
|
||||
|
||||
|
||||
volatile sig_atomic_t msgq_do_exit = 0;
|
||||
|
||||
void sig_handler(int signal) {
|
||||
assert(signal == SIGINT || signal == SIGTERM);
|
||||
msgq_do_exit = 1;
|
||||
}
|
||||
|
||||
static bool service_exists(std::string path){
|
||||
for (const auto& it : services) {
|
||||
if (it.name == path) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
static size_t get_size(std::string endpoint){
|
||||
size_t sz = DEFAULT_SEGMENT_SIZE;
|
||||
|
||||
if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
|
||||
sz *= 10;
|
||||
}
|
||||
|
||||
return sz;
|
||||
}
|
||||
|
||||
|
||||
MSGQContext::MSGQContext() {
|
||||
}
|
||||
|
||||
MSGQContext::~MSGQContext() {
|
||||
}
|
||||
|
||||
void MSGQMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void MSGQMessage::init(char * d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void MSGQMessage::takeOwnership(char * d, size_t sz) {
|
||||
size = sz;
|
||||
data = d;
|
||||
}
|
||||
|
||||
void MSGQMessage::close() {
|
||||
if (size > 0){
|
||||
delete[] data;
|
||||
}
|
||||
size = 0;
|
||||
}
|
||||
|
||||
MSGQMessage::~MSGQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
assert(context);
|
||||
assert(address == "127.0.0.1");
|
||||
|
||||
if (check_endpoint && !service_exists(std::string(endpoint))){
|
||||
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
|
||||
}
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
|
||||
msgq_init_subscriber(q);
|
||||
|
||||
if (conflate){
|
||||
q->read_conflate = true;
|
||||
}
|
||||
|
||||
timeout = -1;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Message * MSGQSubSocket::receive(bool non_blocking){
|
||||
msgq_do_exit = 0;
|
||||
|
||||
void (*prev_handler_sigint)(int);
|
||||
void (*prev_handler_sigterm)(int);
|
||||
if (!non_blocking){
|
||||
prev_handler_sigint = std::signal(SIGINT, sig_handler);
|
||||
prev_handler_sigterm = std::signal(SIGTERM, sig_handler);
|
||||
}
|
||||
|
||||
msgq_msg_t msg;
|
||||
|
||||
MSGQMessage *r = NULL;
|
||||
|
||||
int rc = msgq_msg_recv(&msg, q);
|
||||
|
||||
// Hack to implement blocking read with a poller. Don't use this
|
||||
while (!non_blocking && rc == 0 && msgq_do_exit == 0){
|
||||
msgq_pollitem_t items[1];
|
||||
items[0].q = q;
|
||||
|
||||
int t = (timeout != -1) ? timeout : 100;
|
||||
|
||||
int n = msgq_poll(items, 1, t);
|
||||
rc = msgq_msg_recv(&msg, q);
|
||||
|
||||
// The poll indicated a message was ready, but the receive failed. Try again
|
||||
if (n == 1 && rc == 0){
|
||||
continue;
|
||||
}
|
||||
|
||||
if (timeout != -1){
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (!non_blocking){
|
||||
std::signal(SIGINT, prev_handler_sigint);
|
||||
std::signal(SIGTERM, prev_handler_sigterm);
|
||||
}
|
||||
|
||||
errno = msgq_do_exit ? EINTR : 0;
|
||||
|
||||
if (rc > 0){
|
||||
if (msgq_do_exit){
|
||||
msgq_msg_close(&msg); // Free unused message on exit
|
||||
} else {
|
||||
r = new MSGQMessage;
|
||||
r->takeOwnership(msg.data, msg.size);
|
||||
}
|
||||
}
|
||||
|
||||
return (Message*)r;
|
||||
}
|
||||
|
||||
void MSGQSubSocket::setTimeout(int t){
|
||||
timeout = t;
|
||||
}
|
||||
|
||||
MSGQSubSocket::~MSGQSubSocket(){
|
||||
if (q != NULL){
|
||||
msgq_close_queue(q);
|
||||
delete q;
|
||||
}
|
||||
}
|
||||
|
||||
int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
|
||||
assert(context);
|
||||
|
||||
if (check_endpoint && !service_exists(std::string(endpoint))){
|
||||
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
|
||||
}
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
|
||||
msgq_init_publisher(q);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int MSGQPubSocket::sendMessage(Message *message){
|
||||
msgq_msg_t msg;
|
||||
msg.data = message->getData();
|
||||
msg.size = message->getSize();
|
||||
|
||||
return msgq_msg_send(&msg, q);
|
||||
}
|
||||
|
||||
int MSGQPubSocket::send(char *data, size_t size){
|
||||
msgq_msg_t msg;
|
||||
msg.data = data;
|
||||
msg.size = size;
|
||||
|
||||
return msgq_msg_send(&msg, q);
|
||||
}
|
||||
|
||||
bool MSGQPubSocket::all_readers_updated() {
|
||||
return msgq_all_readers_updated(q);
|
||||
}
|
||||
|
||||
MSGQPubSocket::~MSGQPubSocket(){
|
||||
if (q != NULL){
|
||||
msgq_close_queue(q);
|
||||
delete q;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void MSGQPoller::registerSocket(SubSocket * socket){
|
||||
assert(num_polls + 1 < MAX_POLLERS);
|
||||
polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket();
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<SubSocket*> MSGQPoller::poll(int timeout){
|
||||
std::vector<SubSocket*> r;
|
||||
|
||||
msgq_poll(polls, num_polls, timeout);
|
||||
for (size_t i = 0; i < num_polls; i++){
|
||||
if (polls[i].revents){
|
||||
r.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return r;
|
||||
}
|
||||
@@ -1,65 +0,0 @@
|
||||
#pragma once
|
||||
#include "messaging.h"
|
||||
#include "msgq.h"
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
|
||||
#define MAX_POLLERS 128
|
||||
|
||||
class MSGQContext : public Context {
|
||||
private:
|
||||
void * context = NULL;
|
||||
public:
|
||||
MSGQContext();
|
||||
void * getRawContext() {return context;}
|
||||
~MSGQContext();
|
||||
};
|
||||
|
||||
class MSGQMessage : public Message {
|
||||
private:
|
||||
char * data;
|
||||
size_t size;
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
void takeOwnership(char *data, size_t size);
|
||||
size_t getSize(){return size;}
|
||||
char * getData(){return data;}
|
||||
void close();
|
||||
~MSGQMessage();
|
||||
};
|
||||
|
||||
class MSGQSubSocket : public SubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
int timeout;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return (void*)q;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
~MSGQSubSocket();
|
||||
};
|
||||
|
||||
class MSGQPubSocket : public PubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~MSGQPubSocket();
|
||||
};
|
||||
|
||||
class MSGQPoller : public Poller {
|
||||
private:
|
||||
std::vector<SubSocket*> sockets;
|
||||
msgq_pollitem_t polls[MAX_POLLERS];
|
||||
size_t num_polls = 0;
|
||||
|
||||
public:
|
||||
void registerSocket(SubSocket *socket);
|
||||
std::vector<SubSocket*> poll(int timeout);
|
||||
~MSGQPoller(){};
|
||||
};
|
||||
@@ -1,168 +0,0 @@
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <iostream>
|
||||
#include <cstdlib>
|
||||
#include <cerrno>
|
||||
|
||||
#include <zmq.h>
|
||||
|
||||
#include "services.h"
|
||||
#include "impl_zmq.h"
|
||||
|
||||
static int get_port(std::string endpoint) {
|
||||
int port = -1;
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.name;
|
||||
if (name == endpoint) {
|
||||
port = it.port;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
assert(port >= 0);
|
||||
return port;
|
||||
}
|
||||
|
||||
ZMQContext::ZMQContext() {
|
||||
context = zmq_ctx_new();
|
||||
}
|
||||
|
||||
ZMQContext::~ZMQContext() {
|
||||
zmq_ctx_term(context);
|
||||
}
|
||||
|
||||
void ZMQMessage::init(size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
}
|
||||
|
||||
void ZMQMessage::init(char * d, size_t sz) {
|
||||
size = sz;
|
||||
data = new char[size];
|
||||
memcpy(data, d, size);
|
||||
}
|
||||
|
||||
void ZMQMessage::close() {
|
||||
if (size > 0){
|
||||
delete[] data;
|
||||
}
|
||||
size = 0;
|
||||
}
|
||||
|
||||
ZMQMessage::~ZMQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
|
||||
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
}
|
||||
|
||||
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
|
||||
|
||||
if (conflate){
|
||||
int arg = 1;
|
||||
zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
|
||||
}
|
||||
|
||||
int reconnect_ivl = 500;
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
|
||||
Message * ZMQSubSocket::receive(bool non_blocking){
|
||||
zmq_msg_t msg;
|
||||
assert(zmq_msg_init(&msg) == 0);
|
||||
|
||||
int flags = non_blocking ? ZMQ_DONTWAIT : 0;
|
||||
int rc = zmq_msg_recv(&msg, sock, flags);
|
||||
Message *r = NULL;
|
||||
|
||||
if (rc >= 0){
|
||||
// Make a copy to ensure the data is aligned
|
||||
r = new ZMQMessage;
|
||||
r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg));
|
||||
}
|
||||
|
||||
zmq_msg_close(&msg);
|
||||
return r;
|
||||
}
|
||||
|
||||
void ZMQSubSocket::setTimeout(int timeout){
|
||||
zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
|
||||
}
|
||||
|
||||
ZMQSubSocket::~ZMQSubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
int ZMQPubSocket::sendMessage(Message *message){
|
||||
return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
int ZMQPubSocket::send(char *data, size_t size){
|
||||
return zmq_send(sock, data, size, ZMQ_DONTWAIT);
|
||||
}
|
||||
|
||||
bool ZMQPubSocket::all_readers_updated() {
|
||||
assert(false); // TODO not implemented
|
||||
return false;
|
||||
}
|
||||
|
||||
ZMQPubSocket::~ZMQPubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
|
||||
void ZMQPoller::registerSocket(SubSocket * socket){
|
||||
assert(num_polls + 1 < MAX_POLLERS);
|
||||
polls[num_polls].socket = socket->getRawSocket();
|
||||
polls[num_polls].events = ZMQ_POLLIN;
|
||||
|
||||
sockets.push_back(socket);
|
||||
num_polls++;
|
||||
}
|
||||
|
||||
std::vector<SubSocket*> ZMQPoller::poll(int timeout){
|
||||
std::vector<SubSocket*> r;
|
||||
|
||||
int rc = zmq_poll(polls, num_polls, timeout);
|
||||
if (rc < 0){
|
||||
return r;
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < num_polls; i++){
|
||||
if (polls[i].revents){
|
||||
r.push_back(sockets[i]);
|
||||
}
|
||||
}
|
||||
|
||||
return r;
|
||||
}
|
||||
@@ -1,64 +0,0 @@
|
||||
#pragma once
|
||||
#include "messaging.h"
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
|
||||
#define MAX_POLLERS 128
|
||||
|
||||
class ZMQContext : public Context {
|
||||
private:
|
||||
void * context = NULL;
|
||||
public:
|
||||
ZMQContext();
|
||||
void * getRawContext() {return context;}
|
||||
~ZMQContext();
|
||||
};
|
||||
|
||||
class ZMQMessage : public Message {
|
||||
private:
|
||||
char * data;
|
||||
size_t size;
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
size_t getSize(){return size;}
|
||||
char * getData(){return data;}
|
||||
void close();
|
||||
~ZMQMessage();
|
||||
};
|
||||
|
||||
class ZMQSubSocket : public SubSocket {
|
||||
private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return sock;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
~ZMQSubSocket();
|
||||
};
|
||||
|
||||
class ZMQPubSocket : public PubSocket {
|
||||
private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~ZMQPubSocket();
|
||||
};
|
||||
|
||||
class ZMQPoller : public Poller {
|
||||
private:
|
||||
std::vector<SubSocket*> sockets;
|
||||
zmq_pollitem_t polls[MAX_POLLERS];
|
||||
size_t num_polls = 0;
|
||||
|
||||
public:
|
||||
void registerSocket(SubSocket *socket);
|
||||
std::vector<SubSocket*> poll(int timeout);
|
||||
~ZMQPoller(){};
|
||||
};
|
||||
@@ -1,103 +0,0 @@
|
||||
#include "messaging.h"
|
||||
#include "impl_zmq.h"
|
||||
#include "impl_msgq.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
const bool MUST_USE_ZMQ = true;
|
||||
#else
|
||||
const bool MUST_USE_ZMQ = false;
|
||||
#endif
|
||||
|
||||
bool messaging_use_zmq(){
|
||||
return std::getenv("ZMQ") || MUST_USE_ZMQ;
|
||||
}
|
||||
|
||||
Context * Context::create(){
|
||||
Context * c;
|
||||
if (messaging_use_zmq()){
|
||||
c = new ZMQContext();
|
||||
} else {
|
||||
c = new MSGQContext();
|
||||
}
|
||||
return c;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(){
|
||||
SubSocket * s;
|
||||
if (messaging_use_zmq()){
|
||||
s = new ZMQSubSocket();
|
||||
} else {
|
||||
s = new MSGQSubSocket();
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, address, conflate, check_endpoint);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
PubSocket * PubSocket::create(){
|
||||
PubSocket * s;
|
||||
if (messaging_use_zmq()){
|
||||
s = new ZMQPubSocket();
|
||||
} else {
|
||||
s = new MSGQPubSocket();
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
|
||||
PubSocket *s = PubSocket::create();
|
||||
int r = s->connect(context, endpoint, check_endpoint);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
Poller * Poller::create(){
|
||||
Poller * p;
|
||||
if (messaging_use_zmq()){
|
||||
p = new ZMQPoller();
|
||||
} else {
|
||||
p = new MSGQPoller();
|
||||
}
|
||||
return p;
|
||||
}
|
||||
|
||||
Poller * Poller::create(std::vector<SubSocket*> sockets){
|
||||
Poller * p = Poller::create();
|
||||
|
||||
for (auto s : sockets){
|
||||
p->registerSocket(s);
|
||||
}
|
||||
return p;
|
||||
}
|
||||
|
||||
extern "C" Context * messaging_context_create() {
|
||||
return Context::create();
|
||||
}
|
||||
|
||||
extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
|
||||
return SubSocket::create(context, std::string(endpoint));
|
||||
}
|
||||
|
||||
extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
|
||||
return PubSocket::create(context, std::string(endpoint));
|
||||
}
|
||||
|
||||
extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
|
||||
std::vector<SubSocket*> socketsVec(sockets, sockets + size);
|
||||
return Poller::create(socketsVec);
|
||||
}
|
||||
@@ -1,145 +0,0 @@
|
||||
#pragma once
|
||||
#include <cstddef>
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <capnp/serialize.h>
|
||||
#include "../gen/cpp/log.capnp.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
bool messaging_use_zmq();
|
||||
|
||||
class Context {
|
||||
public:
|
||||
virtual void * getRawContext() = 0;
|
||||
static Context * create();
|
||||
virtual ~Context(){};
|
||||
};
|
||||
|
||||
class Message {
|
||||
public:
|
||||
virtual void init(size_t size) = 0;
|
||||
virtual void init(char * data, size_t size) = 0;
|
||||
virtual void close() = 0;
|
||||
virtual size_t getSize() = 0;
|
||||
virtual char * getData() = 0;
|
||||
virtual ~Message(){};
|
||||
};
|
||||
|
||||
|
||||
class SubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
|
||||
virtual void setTimeout(int timeout) = 0;
|
||||
virtual Message *receive(bool non_blocking=false) = 0;
|
||||
virtual void * getRawSocket() = 0;
|
||||
static SubSocket * create();
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
|
||||
virtual ~SubSocket(){};
|
||||
};
|
||||
|
||||
class PubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
|
||||
virtual int sendMessage(Message *message) = 0;
|
||||
virtual int send(char *data, size_t size) = 0;
|
||||
virtual bool all_readers_updated() = 0;
|
||||
static PubSocket * create();
|
||||
static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
|
||||
static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
|
||||
virtual ~PubSocket(){};
|
||||
};
|
||||
|
||||
class Poller {
|
||||
public:
|
||||
virtual void registerSocket(SubSocket *socket) = 0;
|
||||
virtual std::vector<SubSocket*> poll(int timeout) = 0;
|
||||
static Poller * create();
|
||||
static Poller * create(std::vector<SubSocket*> sockets);
|
||||
virtual ~Poller(){};
|
||||
};
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
SubMaster(const std::vector<const char *> &service_list,
|
||||
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
|
||||
void update(int timeout = 1000);
|
||||
void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
|
||||
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
void drain();
|
||||
~SubMaster();
|
||||
|
||||
uint64_t frame = 0;
|
||||
bool updated(const char *name) const;
|
||||
bool alive(const char *name) const;
|
||||
bool valid(const char *name) const;
|
||||
uint64_t rcv_frame(const char *name) const;
|
||||
uint64_t rcv_time(const char *name) const;
|
||||
cereal::Event::Reader &operator[](const char *name) const;
|
||||
|
||||
private:
|
||||
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
|
||||
Poller *poller_ = nullptr;
|
||||
struct SubMessage;
|
||||
std::map<SubSocket *, SubMessage *> messages_;
|
||||
std::map<std::string, SubMessage *> services_;
|
||||
};
|
||||
|
||||
class MessageBuilder : public capnp::MallocMessageBuilder {
|
||||
public:
|
||||
MessageBuilder() = default;
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
event.setLogMonoTime(current_time);
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
kj::ArrayPtr<capnp::byte> toBytes() {
|
||||
heapArray_ = capnp::messageToFlatArray(*this);
|
||||
return heapArray_.asBytes();
|
||||
}
|
||||
|
||||
private:
|
||||
kj::Array<capnp::word> heapArray_;
|
||||
};
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
PubMaster(const std::vector<const char *> &service_list);
|
||||
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
|
||||
int send(const char *name, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
|
||||
private:
|
||||
std::map<std::string, PubSocket *> sockets_;
|
||||
};
|
||||
|
||||
class AlignedBuffer {
|
||||
public:
|
||||
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
|
||||
words_size = size / sizeof(capnp::word) + 1;
|
||||
if (aligned_buf.size() < words_size) {
|
||||
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
|
||||
}
|
||||
memcpy(aligned_buf.begin(), data, size);
|
||||
return aligned_buf.slice(0, words_size);
|
||||
}
|
||||
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
|
||||
return align(m->getData(), m->getSize());
|
||||
}
|
||||
private:
|
||||
kj::Array<capnp::word> aligned_buf;
|
||||
size_t words_size;
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp cimport bool
|
||||
|
||||
|
||||
cdef extern from "messaging.h":
|
||||
cdef cppclass Context:
|
||||
@staticmethod
|
||||
Context * create()
|
||||
|
||||
cdef cppclass Message:
|
||||
void init(size_t)
|
||||
void init(char *, size_t)
|
||||
void close()
|
||||
size_t getSize()
|
||||
char *getData()
|
||||
|
||||
cdef cppclass SubSocket:
|
||||
@staticmethod
|
||||
SubSocket * create()
|
||||
int connect(Context *, string, string, bool)
|
||||
Message * receive(bool)
|
||||
void setTimeout(int)
|
||||
|
||||
cdef cppclass PubSocket:
|
||||
@staticmethod
|
||||
PubSocket * create()
|
||||
int connect(Context *, string)
|
||||
int sendMessage(Message *)
|
||||
int send(char *, size_t)
|
||||
bool all_readers_updated()
|
||||
|
||||
cdef cppclass Poller:
|
||||
@staticmethod
|
||||
Poller * create()
|
||||
void registerSocket(SubSocket *)
|
||||
vector[SubSocket*] poll(int) nogil
|
||||
@@ -1,154 +0,0 @@
|
||||
# distutils: language = c++
|
||||
# cython: c_string_encoding=ascii, language_level=3
|
||||
|
||||
import sys
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
from libc cimport errno
|
||||
|
||||
|
||||
from .messaging cimport Context as cppContext
|
||||
from .messaging cimport SubSocket as cppSubSocket
|
||||
from .messaging cimport PubSocket as cppPubSocket
|
||||
from .messaging cimport Poller as cppPoller
|
||||
from .messaging cimport Message as cppMessage
|
||||
|
||||
|
||||
class MessagingError(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class MultiplePublishersError(MessagingError):
|
||||
pass
|
||||
|
||||
|
||||
cdef class Context:
|
||||
cdef cppContext * context
|
||||
|
||||
def __cinit__(self):
|
||||
self.context = cppContext.create()
|
||||
|
||||
def term(self):
|
||||
del self.context
|
||||
self.context = NULL
|
||||
|
||||
def __dealloc__(self):
|
||||
pass
|
||||
# Deleting the context will hang if sockets are still active
|
||||
# TODO: Figure out a way to make sure the context is closed last
|
||||
# del self.context
|
||||
|
||||
|
||||
cdef class Poller:
|
||||
cdef cppPoller * poller
|
||||
cdef list sub_sockets
|
||||
|
||||
def __cinit__(self):
|
||||
self.sub_sockets = []
|
||||
self.poller = cppPoller.create()
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.poller
|
||||
|
||||
def registerSocket(self, SubSocket socket):
|
||||
self.sub_sockets.append(socket)
|
||||
self.poller.registerSocket(socket.socket)
|
||||
|
||||
def poll(self, timeout):
|
||||
sockets = []
|
||||
cdef int t = timeout
|
||||
|
||||
with nogil:
|
||||
result = self.poller.poll(t)
|
||||
|
||||
for s in result:
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
|
||||
return sockets
|
||||
|
||||
cdef class SubSocket:
|
||||
cdef cppSubSocket * socket
|
||||
cdef bool is_owner
|
||||
|
||||
def __cinit__(self):
|
||||
self.socket = cppSubSocket.create()
|
||||
self.is_owner = True
|
||||
|
||||
if self.socket == NULL:
|
||||
raise MessagingError
|
||||
|
||||
def __dealloc__(self):
|
||||
if self.is_owner:
|
||||
del self.socket
|
||||
|
||||
cdef setPtr(self, cppSubSocket * ptr):
|
||||
if self.is_owner:
|
||||
del self.socket
|
||||
|
||||
self.is_owner = False
|
||||
self.socket = ptr
|
||||
|
||||
def connect(self, Context context, string endpoint, string address=b"127.0.0.1", bool conflate=False):
|
||||
r = self.socket.connect(context.context, endpoint, address, conflate)
|
||||
|
||||
if r != 0:
|
||||
if errno.errno == errno.EADDRINUSE:
|
||||
raise MultiplePublishersError
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def setTimeout(self, int timeout):
|
||||
self.socket.setTimeout(timeout)
|
||||
|
||||
def receive(self, bool non_blocking=False):
|
||||
msg = self.socket.receive(non_blocking)
|
||||
|
||||
if msg == NULL:
|
||||
# If a blocking read returns no message check errno if SIGINT was caught in the C++ code
|
||||
if errno.errno == errno.EINTR:
|
||||
print("SIGINT received, exiting")
|
||||
sys.exit(1)
|
||||
|
||||
return None
|
||||
else:
|
||||
sz = msg.getSize()
|
||||
m = msg.getData()[:sz]
|
||||
del msg
|
||||
|
||||
return m
|
||||
|
||||
|
||||
cdef class PubSocket:
|
||||
cdef cppPubSocket * socket
|
||||
|
||||
def __cinit__(self):
|
||||
self.socket = cppPubSocket.create()
|
||||
if self.socket == NULL:
|
||||
raise MessagingError
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.socket
|
||||
|
||||
def connect(self, Context context, string endpoint):
|
||||
r = self.socket.connect(context.context, endpoint)
|
||||
|
||||
if r != 0:
|
||||
if errno.errno == errno.EADDRINUSE:
|
||||
raise MultiplePublishersError
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def send(self, bytes data):
|
||||
length = len(data)
|
||||
r = self.socket.send(<char*>data, length)
|
||||
|
||||
if r != length:
|
||||
if errno.errno == errno.EADDRINUSE:
|
||||
raise MultiplePublishersError
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def all_readers_updated(self):
|
||||
return self.socket.all_readers_updated()
|
||||
@@ -1,464 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <cassert>
|
||||
#include <cerrno>
|
||||
#include <cmath>
|
||||
#include <cstring>
|
||||
#include <cstdint>
|
||||
#include <chrono>
|
||||
#include <algorithm>
|
||||
#include <cstdlib>
|
||||
#include <csignal>
|
||||
#include <random>
|
||||
|
||||
#include <poll.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/syscall.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "msgq.h"
|
||||
|
||||
void sigusr2_handler(int signal) {
|
||||
assert(signal == SIGUSR2);
|
||||
}
|
||||
|
||||
uint64_t msgq_get_uid(void){
|
||||
std::random_device rd("/dev/urandom");
|
||||
std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
|
||||
|
||||
#ifdef __APPLE__
|
||||
// TODO: this doesn't work
|
||||
uint64_t uid = distribution(rd) << 32 | getpid();
|
||||
#else
|
||||
uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
|
||||
#endif
|
||||
|
||||
return uid;
|
||||
}
|
||||
|
||||
int msgq_msg_init_size(msgq_msg_t * msg, size_t size){
|
||||
msg->size = size;
|
||||
msg->data = new(std::nothrow) char[size];
|
||||
|
||||
return (msg->data == NULL) ? -1 : 0;
|
||||
}
|
||||
|
||||
|
||||
int msgq_msg_init_data(msgq_msg_t * msg, char * data, size_t size) {
|
||||
int r = msgq_msg_init_size(msg, size);
|
||||
|
||||
if (r == 0)
|
||||
memcpy(msg->data, data, size);
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
int msgq_msg_close(msgq_msg_t * msg){
|
||||
if (msg->size > 0)
|
||||
delete[] msg->data;
|
||||
|
||||
msg->size = 0;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void msgq_reset_reader(msgq_queue_t * q){
|
||||
int id = q->reader_id;
|
||||
q->read_valids[id]->store(true);
|
||||
q->read_pointers[id]->store(*q->write_pointer);
|
||||
}
|
||||
|
||||
void msgq_wait_for_subscriber(msgq_queue_t *q){
|
||||
while (*q->num_readers == 0){
|
||||
;
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
|
||||
std::signal(SIGUSR2, sigusr2_handler);
|
||||
|
||||
const char * prefix = "/dev/shm/";
|
||||
char * full_path = new char[strlen(path) + strlen(prefix) + 1];
|
||||
strcpy(full_path, prefix);
|
||||
strcat(full_path, path);
|
||||
|
||||
auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
if (fd < 0) {
|
||||
std::cout << "Warning, could not open: " << full_path << std::endl;
|
||||
delete[] full_path;
|
||||
return -1;
|
||||
}
|
||||
delete[] full_path;
|
||||
|
||||
int rc = ftruncate(fd, size + sizeof(msgq_header_t));
|
||||
if (rc < 0){
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
|
||||
close(fd);
|
||||
|
||||
if (mem == NULL){
|
||||
return -1;
|
||||
}
|
||||
q->mmap_p = mem;
|
||||
|
||||
msgq_header_t *header = (msgq_header_t *)mem;
|
||||
|
||||
// Setup pointers to header segment
|
||||
q->num_readers = reinterpret_cast<std::atomic<uint64_t>*>(&header->num_readers);
|
||||
q->write_pointer = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_pointer);
|
||||
q->write_uid = reinterpret_cast<std::atomic<uint64_t>*>(&header->write_uid);
|
||||
|
||||
for (size_t i = 0; i < NUM_READERS; i++){
|
||||
q->read_pointers[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_pointers[i]);
|
||||
q->read_valids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_valids[i]);
|
||||
q->read_uids[i] = reinterpret_cast<std::atomic<uint64_t>*>(&header->read_uids[i]);
|
||||
}
|
||||
|
||||
q->data = mem + sizeof(msgq_header_t);
|
||||
q->size = size;
|
||||
q->reader_id = -1;
|
||||
|
||||
q->endpoint = path;
|
||||
q->read_conflate = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void msgq_close_queue(msgq_queue_t *q){
|
||||
if (q->mmap_p != NULL){
|
||||
munmap(q->mmap_p, q->size + sizeof(msgq_header_t));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void msgq_init_publisher(msgq_queue_t * q) {
|
||||
//std::cout << "Starting publisher" << std::endl;
|
||||
uint64_t uid = msgq_get_uid();
|
||||
|
||||
*q->write_uid = uid;
|
||||
*q->num_readers = 0;
|
||||
|
||||
for (size_t i = 0; i < NUM_READERS; i++){
|
||||
*q->read_valids[i] = false;
|
||||
*q->read_uids[i] = 0;
|
||||
}
|
||||
|
||||
q->write_uid_local = uid;
|
||||
}
|
||||
|
||||
static void thread_signal(uint32_t tid) {
|
||||
#ifndef SYS_tkill
|
||||
// TODO: this won't work for multithreaded programs
|
||||
kill(tid, SIGUSR2);
|
||||
#else
|
||||
syscall(SYS_tkill, tid, SIGUSR2);
|
||||
#endif
|
||||
}
|
||||
|
||||
void msgq_init_subscriber(msgq_queue_t * q) {
|
||||
assert(q != NULL);
|
||||
assert(q->num_readers != NULL);
|
||||
|
||||
uint64_t uid = msgq_get_uid();
|
||||
|
||||
// Get reader id
|
||||
while (true){
|
||||
uint64_t cur_num_readers = *q->num_readers;
|
||||
uint64_t new_num_readers = cur_num_readers + 1;
|
||||
|
||||
// No more slots available. Reset all subscribers to kick out inactive ones
|
||||
if (new_num_readers > NUM_READERS){
|
||||
std::cout << "Warning, evicting all subscribers!" << std::endl;
|
||||
*q->num_readers = 0;
|
||||
|
||||
for (size_t i = 0; i < NUM_READERS; i++){
|
||||
*q->read_valids[i] = false;
|
||||
|
||||
uint64_t old_uid = *q->read_uids[i];
|
||||
*q->read_uids[i] = 0;
|
||||
|
||||
// Wake up reader in case they are in a poll
|
||||
thread_signal(old_uid & 0xFFFFFFFF);
|
||||
}
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
// Use atomic compare and swap to handle race condition
|
||||
// where two subscribers start at the same time
|
||||
if (std::atomic_compare_exchange_strong(q->num_readers,
|
||||
&cur_num_readers,
|
||||
new_num_readers)){
|
||||
q->reader_id = cur_num_readers;
|
||||
q->read_uid_local = uid;
|
||||
|
||||
// We start with read_valid = false,
|
||||
// on the first read the read pointer will be synchronized with the write pointer
|
||||
*q->read_valids[cur_num_readers] = false;
|
||||
*q->read_pointers[cur_num_readers] = 0;
|
||||
*q->read_uids[cur_num_readers] = uid;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
//std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl;
|
||||
msgq_reset_reader(q);
|
||||
}
|
||||
|
||||
int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
|
||||
// Die if we are no longer the active publisher
|
||||
if (q->write_uid_local != *q->write_uid){
|
||||
std::cout << "Killing old publisher: " << q->endpoint << std::endl;
|
||||
errno = EADDRINUSE;
|
||||
return -1;
|
||||
}
|
||||
|
||||
uint64_t total_msg_size = ALIGN(msg->size + sizeof(int64_t));
|
||||
|
||||
// We need to fit at least three messages in the queue,
|
||||
// then we can always safely access the last message
|
||||
assert(3 * total_msg_size <= q->size);
|
||||
|
||||
uint64_t num_readers = *q->num_readers;
|
||||
|
||||
uint32_t write_cycles, write_pointer;
|
||||
UNPACK64(write_cycles, write_pointer, *q->write_pointer);
|
||||
|
||||
char *p = q->data + write_pointer; // add base offset
|
||||
|
||||
// Check remaining space
|
||||
// Always leave space for a wraparound tag for the next message, including alignment
|
||||
int64_t remaining_space = q->size - write_pointer - total_msg_size - sizeof(int64_t);
|
||||
if (remaining_space <= 0){
|
||||
// Write -1 size tag indicating wraparound
|
||||
*(int64_t*)p = -1;
|
||||
|
||||
// Invalidate all readers that are beyond the write pointer
|
||||
// TODO: should we handle the case where a new reader shows up while this is running?
|
||||
for (uint64_t i = 0; i < num_readers; i++){
|
||||
uint64_t read_pointer = *q->read_pointers[i];
|
||||
uint64_t read_cycles = read_pointer >> 32;
|
||||
read_pointer &= 0xFFFFFFFF;
|
||||
|
||||
if ((read_pointer > write_pointer) && (read_cycles != write_cycles)) {
|
||||
*q->read_valids[i] = false;
|
||||
}
|
||||
}
|
||||
|
||||
// Update global and local copies of write pointer and write_cycles
|
||||
write_pointer = 0;
|
||||
write_cycles = write_cycles + 1;
|
||||
PACK64(*q->write_pointer, write_cycles, write_pointer);
|
||||
|
||||
// Set actual pointer to the beginning of the data segment
|
||||
p = q->data;
|
||||
}
|
||||
|
||||
// Invalidate readers that are in the area that will be written
|
||||
uint64_t start = write_pointer;
|
||||
uint64_t end = ALIGN(start + sizeof(int64_t) + msg->size);
|
||||
|
||||
for (uint64_t i = 0; i < num_readers; i++){
|
||||
uint32_t read_cycles, read_pointer;
|
||||
UNPACK64(read_cycles, read_pointer, *q->read_pointers[i]);
|
||||
|
||||
if ((read_pointer >= start) && (read_pointer < end) && (read_cycles != write_cycles)) {
|
||||
*q->read_valids[i] = false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// Write size tag
|
||||
std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
|
||||
*size_p = msg->size;
|
||||
|
||||
// Copy data
|
||||
memcpy(p + sizeof(int64_t), msg->data, msg->size);
|
||||
__sync_synchronize();
|
||||
|
||||
// Update write pointer
|
||||
uint32_t new_ptr = ALIGN(write_pointer + msg->size + sizeof(int64_t));
|
||||
PACK64(*q->write_pointer, write_cycles, new_ptr);
|
||||
|
||||
// Notify readers
|
||||
for (uint64_t i = 0; i < num_readers; i++){
|
||||
uint64_t reader_uid = *q->read_uids[i];
|
||||
thread_signal(reader_uid & 0xFFFFFFFF);
|
||||
}
|
||||
|
||||
return msg->size;
|
||||
}
|
||||
|
||||
|
||||
int msgq_msg_ready(msgq_queue_t * q){
|
||||
start:
|
||||
int id = q->reader_id;
|
||||
assert(id >= 0); // Make sure subscriber is initialized
|
||||
|
||||
if (q->read_uid_local != *q->read_uids[id]){
|
||||
std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
|
||||
msgq_init_subscriber(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
// Check valid
|
||||
if (!*q->read_valids[id]){
|
||||
msgq_reset_reader(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
uint32_t read_cycles, read_pointer;
|
||||
UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
|
||||
|
||||
uint32_t write_cycles, write_pointer;
|
||||
UNPACK64(write_cycles, write_pointer, *q->write_pointer);
|
||||
|
||||
// Check if new message is available
|
||||
return (read_pointer != write_pointer);
|
||||
}
|
||||
|
||||
int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
|
||||
start:
|
||||
int id = q->reader_id;
|
||||
assert(id >= 0); // Make sure subscriber is initialized
|
||||
|
||||
if (q->read_uid_local != *q->read_uids[id]){
|
||||
std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl;
|
||||
msgq_init_subscriber(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
// Check valid
|
||||
if (!*q->read_valids[id]){
|
||||
msgq_reset_reader(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
uint32_t read_cycles, read_pointer;
|
||||
UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
|
||||
|
||||
uint32_t write_cycles, write_pointer;
|
||||
UNPACK64(write_cycles, write_pointer, *q->write_pointer);
|
||||
|
||||
char * p = q->data + read_pointer;
|
||||
|
||||
// Check if new message is available
|
||||
if (read_pointer == write_pointer) {
|
||||
msg->size = 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Read potential message size
|
||||
std::atomic<int64_t> *size_p = reinterpret_cast<std::atomic<int64_t>*>(p);
|
||||
std::int64_t size = *size_p;
|
||||
|
||||
// Check if the size that was read is valid
|
||||
if (!*q->read_valids[id]){
|
||||
msgq_reset_reader(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
// If size is -1 the buffer was full, and we need to wrap around
|
||||
if (size == -1){
|
||||
read_cycles++;
|
||||
PACK64(*q->read_pointers[id], read_cycles, 0);
|
||||
goto start;
|
||||
}
|
||||
|
||||
// crashing is better than passing garbage data to the consumer
|
||||
// the size will have weird value if it was overwritten by data accidentally
|
||||
assert((uint64_t)size < q->size);
|
||||
assert(size > 0);
|
||||
|
||||
uint32_t new_read_pointer = ALIGN(read_pointer + sizeof(std::int64_t) + size);
|
||||
|
||||
// If conflate is true, check if this is the latest message, else start over
|
||||
if (q->read_conflate){
|
||||
if (new_read_pointer != write_pointer){
|
||||
// Update read pointer
|
||||
PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
|
||||
goto start;
|
||||
}
|
||||
}
|
||||
|
||||
// Copy message
|
||||
if (msgq_msg_init_size(msg, size) < 0)
|
||||
return -1;
|
||||
|
||||
__sync_synchronize();
|
||||
memcpy(msg->data, p + sizeof(int64_t), size);
|
||||
__sync_synchronize();
|
||||
|
||||
// Update read pointer
|
||||
PACK64(*q->read_pointers[id], read_cycles, new_read_pointer);
|
||||
|
||||
// Check if the actual data that was copied is valid
|
||||
if (!*q->read_valids[id]){
|
||||
msgq_msg_close(msg);
|
||||
msgq_reset_reader(q);
|
||||
goto start;
|
||||
}
|
||||
|
||||
|
||||
return msg->size;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
|
||||
int num = 0;
|
||||
|
||||
// Check if messages ready
|
||||
for (size_t i = 0; i < nitems; i++) {
|
||||
items[i].revents = msgq_msg_ready(items[i].q);
|
||||
if (items[i].revents) num++;
|
||||
}
|
||||
|
||||
int ms = (timeout == -1) ? 100 : timeout;
|
||||
struct timespec ts;
|
||||
ts.tv_sec = ms / 1000;
|
||||
ts.tv_nsec = (ms % 1000) * 1000 * 1000;
|
||||
|
||||
|
||||
while (num == 0) {
|
||||
int ret;
|
||||
|
||||
ret = nanosleep(&ts, &ts);
|
||||
|
||||
// Check if messages ready
|
||||
for (size_t i = 0; i < nitems; i++) {
|
||||
if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){
|
||||
num += 1;
|
||||
items[i].revents = 1;
|
||||
}
|
||||
}
|
||||
|
||||
// exit if we had a timeout and the sleep finished
|
||||
if (timeout != -1 && ret == 0){
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return num;
|
||||
}
|
||||
|
||||
bool msgq_all_readers_updated(msgq_queue_t *q) {
|
||||
uint64_t num_readers = *q->num_readers;
|
||||
for (uint64_t i = 0; i < num_readers; i++) {
|
||||
if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return num_readers > 0;
|
||||
}
|
||||
@@ -1,68 +0,0 @@
|
||||
#pragma once
|
||||
#include <cstdint>
|
||||
#include <cstring>
|
||||
#include <string>
|
||||
#include <atomic>
|
||||
|
||||
#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
|
||||
#define NUM_READERS 10
|
||||
#define ALIGN(n) ((n + (8 - 1)) & -8)
|
||||
|
||||
#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
|
||||
#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
|
||||
|
||||
struct msgq_header_t {
|
||||
uint64_t num_readers;
|
||||
uint64_t write_pointer;
|
||||
uint64_t write_uid;
|
||||
uint64_t read_pointers[NUM_READERS];
|
||||
uint64_t read_valids[NUM_READERS];
|
||||
uint64_t read_uids[NUM_READERS];
|
||||
};
|
||||
|
||||
struct msgq_queue_t {
|
||||
std::atomic<uint64_t> *num_readers;
|
||||
std::atomic<uint64_t> *write_pointer;
|
||||
std::atomic<uint64_t> *write_uid;
|
||||
std::atomic<uint64_t> *read_pointers[NUM_READERS];
|
||||
std::atomic<uint64_t> *read_valids[NUM_READERS];
|
||||
std::atomic<uint64_t> *read_uids[NUM_READERS];
|
||||
char * mmap_p;
|
||||
char * data;
|
||||
size_t size;
|
||||
int reader_id;
|
||||
uint64_t read_uid_local;
|
||||
uint64_t write_uid_local;
|
||||
|
||||
bool read_conflate;
|
||||
std::string endpoint;
|
||||
};
|
||||
|
||||
struct msgq_msg_t {
|
||||
size_t size;
|
||||
char * data;
|
||||
};
|
||||
|
||||
struct msgq_pollitem_t {
|
||||
msgq_queue_t *q;
|
||||
int revents;
|
||||
};
|
||||
|
||||
void msgq_wait_for_subscriber(msgq_queue_t *q);
|
||||
void msgq_reset_reader(msgq_queue_t *q);
|
||||
|
||||
int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
|
||||
int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
|
||||
int msgq_msg_close(msgq_msg_t *msg);
|
||||
|
||||
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
|
||||
void msgq_close_queue(msgq_queue_t *q);
|
||||
void msgq_init_publisher(msgq_queue_t * q);
|
||||
void msgq_init_subscriber(msgq_queue_t * q);
|
||||
|
||||
int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
|
||||
int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
|
||||
int msgq_msg_ready(msgq_queue_t * q);
|
||||
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
|
||||
|
||||
bool msgq_all_readers_updated(msgq_queue_t *q);
|
||||
@@ -1,203 +0,0 @@
|
||||
#include <time.h>
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <string>
|
||||
#include <mutex>
|
||||
|
||||
#include "services.h"
|
||||
#include "messaging.h"
|
||||
|
||||
const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
|
||||
|
||||
static inline uint64_t nanos_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
}
|
||||
|
||||
static const service *get_service(const char *name) {
|
||||
for (const auto &it : services) {
|
||||
if (strcmp(it.name, name) == 0) return ⁢
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static inline bool inList(const std::vector<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
MessageContext() : ctx_(nullptr) {};
|
||||
~MessageContext() { delete ctx_; }
|
||||
inline Context *context() {
|
||||
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
|
||||
return ctx_;
|
||||
}
|
||||
private:
|
||||
Context *ctx_;
|
||||
std::once_flag init_flag;
|
||||
};
|
||||
|
||||
MessageContext message_context;
|
||||
|
||||
struct SubMaster::SubMessage {
|
||||
std::string name;
|
||||
SubSocket *socket = nullptr;
|
||||
int freq = 0;
|
||||
bool updated = false, alive = false, valid = true, ignore_alive;
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
capnp::FlatArrayMessageReader *msg_reader = nullptr;
|
||||
AlignedBuffer aligned_buf;
|
||||
cereal::Event::Reader event;
|
||||
};
|
||||
|
||||
SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
|
||||
const std::vector<const char *> &ignore_alive) {
|
||||
poller_ = Poller::create();
|
||||
for (auto name : service_list) {
|
||||
const service *serv = get_service(name);
|
||||
assert(serv != nullptr);
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
|
||||
assert(socket != 0);
|
||||
poller_->registerSocket(socket);
|
||||
SubMessage *m = new SubMessage{
|
||||
.name = name,
|
||||
.socket = socket,
|
||||
.freq = serv->frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
}
|
||||
|
||||
void SubMaster::update(int timeout) {
|
||||
for (auto &kv : messages_) kv.second->updated = false;
|
||||
|
||||
auto sockets = poller_->poll(timeout);
|
||||
uint64_t current_time = nanos_since_boot();
|
||||
|
||||
std::vector<std::pair<std::string, cereal::Event::Reader>> messages;
|
||||
|
||||
for (auto s : sockets) {
|
||||
Message *msg = s->receive(true);
|
||||
if (msg == nullptr) continue;
|
||||
|
||||
SubMessage *m = messages_.at(s);
|
||||
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
|
||||
delete msg;
|
||||
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
|
||||
}
|
||||
|
||||
update_msgs(current_time, messages);
|
||||
}
|
||||
|
||||
void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
|
||||
for(auto &kv : messages) {
|
||||
auto m_find = services_.find(kv.first);
|
||||
if (m_find == services_.end()){
|
||||
continue;
|
||||
}
|
||||
SubMessage *m = m_find->second;
|
||||
m->event = kv.second;
|
||||
m->updated = true;
|
||||
m->rcv_time = current_time;
|
||||
m->rcv_frame = frame;
|
||||
m->valid = m->event.getValid();
|
||||
if (SIMULATION) m->alive = true;
|
||||
}
|
||||
|
||||
if (!SIMULATION) {
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
|
||||
int found = 0;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
if (service_list.size() == 0 || inList(service_list, m->name.c_str())) {
|
||||
found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive));
|
||||
}
|
||||
}
|
||||
return service_list.size() == 0 ? found == messages_.size() : found == service_list.size();
|
||||
}
|
||||
|
||||
void SubMaster::drain() {
|
||||
while (true) {
|
||||
auto polls = poller_->poll(0);
|
||||
if (polls.size() == 0)
|
||||
break;
|
||||
|
||||
for (auto sock : polls) {
|
||||
Message *msg = sock->receive(true);
|
||||
delete msg;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::updated(const char *name) const {
|
||||
return services_.at(name)->updated;
|
||||
}
|
||||
|
||||
bool SubMaster::alive(const char *name) const {
|
||||
return services_.at(name)->alive;
|
||||
}
|
||||
|
||||
bool SubMaster::valid(const char *name) const {
|
||||
return services_.at(name)->valid;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_frame(const char *name) const {
|
||||
return services_.at(name)->rcv_frame;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_time(const char *name) const {
|
||||
return services_.at(name)->rcv_time;
|
||||
}
|
||||
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) const {
|
||||
return services_.at(name)->event;
|
||||
};
|
||||
|
||||
SubMaster::~SubMaster() {
|
||||
delete poller_;
|
||||
for (auto &kv : messages_) {
|
||||
SubMessage *m = kv.second;
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
free(m->allocated_msg_reader);
|
||||
delete m->socket;
|
||||
delete m;
|
||||
}
|
||||
}
|
||||
|
||||
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
|
||||
for (auto name : service_list) {
|
||||
assert(get_service(name) != nullptr);
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name);
|
||||
assert(socket);
|
||||
sockets_[name] = socket;
|
||||
}
|
||||
}
|
||||
|
||||
int PubMaster::send(const char *name, MessageBuilder &msg) {
|
||||
auto bytes = msg.toBytes();
|
||||
return send(name, bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
PubMaster::~PubMaster() {
|
||||
for (auto s : sockets_) delete s.second;
|
||||
}
|
||||
@@ -1,99 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from typing import Optional
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
RESERVED_PORT = 8022 # sshd
|
||||
STARTING_PORT = 8001
|
||||
|
||||
|
||||
def new_port(port: int):
|
||||
port += STARTING_PORT
|
||||
return port + 1 if port >= RESERVED_PORT else port
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.port = port
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
|
||||
services = {
|
||||
"roadCameraState": (True, 20., 1), # should_log, frequency, decimation (optional)
|
||||
"sensorEvents": (True, 100., 100),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"can": (True, 100.),
|
||||
"controlsState": (True, 100., 100),
|
||||
"features": (True, 0.),
|
||||
"pandaState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (True, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100.),
|
||||
"logMessage": (True, 0.),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"androidLog": (True, 0., 1),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 2),
|
||||
"liveLocation": (True, 0., 1),
|
||||
"procLog": (True, 0.5),
|
||||
"gpsLocationExternal": (True, 10., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"clocks": (True, 1., 1),
|
||||
"liveMpc": (False, 20.),
|
||||
"liveLongitudinalMpc": (False, 20.),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"liveLocationKalman": (True, 20., 2),
|
||||
"uiLayoutState": (True, 0.),
|
||||
"liveParameters": (True, 20., 2),
|
||||
"cameraOdometry": (True, 20., 5),
|
||||
"lateralPlan": (True, 20., 2),
|
||||
"thumbnail": (True, 0.2, 1),
|
||||
"carEvents": (True, 1., 1),
|
||||
"carParams": (True, 0.02, 1),
|
||||
"driverCameraState": (True, 10. if not TICI else 20., 1),
|
||||
"driverEncodeIdx": (True, 10. if not TICI else 20., 1),
|
||||
"driverState": (True, 10. if not TICI else 20., 1),
|
||||
"driverMonitoringState": (True, 10. if not TICI else 20., 1),
|
||||
"offroadLayout": (False, 0.),
|
||||
"wideRoadEncodeIdx": (True, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 1),
|
||||
"modelV2": (True, 20., 20),
|
||||
"managerState": (True, 2., 1),
|
||||
|
||||
"testModel": (False, 0.),
|
||||
"testLiveLocation": (False, 0.),
|
||||
"testJoystick": (False, 0.),
|
||||
|
||||
# dp
|
||||
"thermal": (True, 2., 1),
|
||||
"dragonConf": (False, 2.),
|
||||
|
||||
}
|
||||
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
|
||||
idx, (name, vals) in enumerate(services.items())}
|
||||
|
||||
|
||||
def build_header():
|
||||
h = ""
|
||||
h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
|
||||
h += "#ifndef __SERVICES_H\n"
|
||||
h += "#define __SERVICES_H\n"
|
||||
h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static struct service services[] = {\n"
|
||||
for k, v in service_list.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", %d, %s, %d, %d },\n' % \
|
||||
(k, v.port, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
h += "#endif\n"
|
||||
return h
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
print(build_header())
|
||||
2
cereal/visionipc/.gitignore
vendored
2
cereal/visionipc/.gitignore
vendored
@@ -1,2 +0,0 @@
|
||||
visionipc_pyx.cpp
|
||||
*.so
|
||||
@@ -1,121 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <assert.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <sys/mman.h>
|
||||
#include <sys/socket.h>
|
||||
#include <sys/un.h>
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
|
||||
#else
|
||||
#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
|
||||
#endif
|
||||
|
||||
#include "ipc.h"
|
||||
|
||||
int ipc_connect(const char* socket_path) {
|
||||
int err;
|
||||
|
||||
int sock = getsocket();
|
||||
|
||||
if (sock < 0) return -1;
|
||||
struct sockaddr_un addr = {
|
||||
.sun_family = AF_UNIX,
|
||||
};
|
||||
snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
|
||||
err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
|
||||
if (err != 0) {
|
||||
close(sock);
|
||||
return -1;
|
||||
}
|
||||
|
||||
return sock;
|
||||
}
|
||||
|
||||
int ipc_bind(const char* socket_path) {
|
||||
int err;
|
||||
|
||||
unlink(socket_path);
|
||||
|
||||
int sock = getsocket();
|
||||
|
||||
struct sockaddr_un addr = {
|
||||
.sun_family = AF_UNIX,
|
||||
};
|
||||
snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
|
||||
err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
|
||||
assert(err == 0);
|
||||
|
||||
err = listen(sock, 3);
|
||||
assert(err == 0);
|
||||
|
||||
return sock;
|
||||
}
|
||||
|
||||
|
||||
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
|
||||
int *out_num_fds) {
|
||||
char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
|
||||
memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
|
||||
|
||||
struct iovec iov = {
|
||||
.iov_base = buf,
|
||||
.iov_len = buf_size,
|
||||
};
|
||||
struct msghdr msg = {
|
||||
.msg_iov = &iov,
|
||||
.msg_iovlen = 1,
|
||||
};
|
||||
|
||||
if (num_fds > 0) {
|
||||
assert(fds);
|
||||
|
||||
msg.msg_control = control_buf;
|
||||
msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
|
||||
}
|
||||
|
||||
if (send) {
|
||||
if (num_fds) {
|
||||
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
|
||||
assert(cmsg);
|
||||
cmsg->cmsg_level = SOL_SOCKET;
|
||||
cmsg->cmsg_type = SCM_RIGHTS;
|
||||
cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
|
||||
memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
|
||||
}
|
||||
return sendmsg(fd, &msg, 0);
|
||||
} else {
|
||||
int r = recvmsg(fd, &msg, 0);
|
||||
if (r < 0) return r;
|
||||
|
||||
int recv_fds = 0;
|
||||
if (msg.msg_controllen > 0) {
|
||||
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
|
||||
assert(cmsg);
|
||||
assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
|
||||
recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
|
||||
assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
|
||||
recv_fds /= sizeof(int);
|
||||
|
||||
assert(fds && recv_fds <= num_fds);
|
||||
memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
|
||||
}
|
||||
|
||||
if (msg.msg_flags) {
|
||||
for (int i=0; i<recv_fds; i++) {
|
||||
close(fds[i]);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (fds) {
|
||||
assert(out_num_fds);
|
||||
*out_num_fds = recv_fds;
|
||||
}
|
||||
return r;
|
||||
}
|
||||
}
|
||||
@@ -1,7 +0,0 @@
|
||||
#pragma once
|
||||
#include <cstddef>
|
||||
|
||||
int ipc_connect(const char* socket_path);
|
||||
int ipc_bind(const char* socket_path);
|
||||
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
|
||||
int *out_num_fds);
|
||||
@@ -1,2 +0,0 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -1,40 +0,0 @@
|
||||
#include "visionbuf.h"
|
||||
|
||||
#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
|
||||
|
||||
#ifdef QCOM
|
||||
// from libadreno_utils.so
|
||||
extern "C" void compute_aligned_width_and_height(int width,
|
||||
int height,
|
||||
int bpp,
|
||||
int tile_mode,
|
||||
int raster_mode,
|
||||
int padding_threshold,
|
||||
int *aligned_w,
|
||||
int *aligned_h);
|
||||
#endif
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
|
||||
#ifdef QCOM
|
||||
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
|
||||
#else
|
||||
*aligned_w = width; *aligned_h = height;
|
||||
#endif
|
||||
}
|
||||
|
||||
void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
|
||||
this->rgb = true;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
this->stride = stride;
|
||||
}
|
||||
|
||||
void VisionBuf::init_yuv(size_t width, size_t height){
|
||||
this->rgb = false;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
|
||||
this->y = (uint8_t *)this->addr;
|
||||
this->u = this->y + (width * height);
|
||||
this->v = this->u + (width / 2 * height / 2);
|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
#pragma once
|
||||
#include "visionipc.h"
|
||||
|
||||
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#define VISIONBUF_SYNC_FROM_DEVICE 0
|
||||
#define VISIONBUF_SYNC_TO_DEVICE 1
|
||||
|
||||
enum VisionStreamType {
|
||||
VISION_STREAM_RGB_BACK,
|
||||
VISION_STREAM_RGB_FRONT,
|
||||
VISION_STREAM_RGB_WIDE,
|
||||
VISION_STREAM_YUV_BACK,
|
||||
VISION_STREAM_YUV_FRONT,
|
||||
VISION_STREAM_YUV_WIDE,
|
||||
VISION_STREAM_MAX,
|
||||
};
|
||||
|
||||
class VisionBuf {
|
||||
public:
|
||||
size_t len = 0;
|
||||
size_t mmap_len = 0;
|
||||
void * addr = nullptr;
|
||||
int fd = 0;
|
||||
|
||||
bool rgb = false;
|
||||
size_t width = 0;
|
||||
size_t height = 0;
|
||||
size_t stride = 0;
|
||||
|
||||
// YUV
|
||||
uint8_t * y = nullptr;
|
||||
uint8_t * u = nullptr;
|
||||
uint8_t * v = nullptr;
|
||||
|
||||
// Visionipc
|
||||
uint64_t server_id = 0;
|
||||
size_t idx = 0;
|
||||
VisionStreamType type;
|
||||
|
||||
// OpenCL
|
||||
cl_mem buf_cl = nullptr;
|
||||
cl_command_queue copy_q = nullptr;
|
||||
|
||||
// ion
|
||||
int handle = 0;
|
||||
bool owner = false;
|
||||
|
||||
void allocate(size_t len);
|
||||
void import();
|
||||
void init_cl(cl_device_id device_id, cl_context ctx);
|
||||
void init_rgb(size_t width, size_t height, size_t stride);
|
||||
void init_yuv(size_t width, size_t height);
|
||||
void sync(int dir);
|
||||
void free();
|
||||
};
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
@@ -1,86 +0,0 @@
|
||||
#include "visionbuf.h"
|
||||
|
||||
#include <atomic>
|
||||
#include <stdio.h>
|
||||
#include <fcntl.h>
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
std::atomic<int> offset = 0;
|
||||
|
||||
static void *malloc_with_fd(size_t len, int *fd) {
|
||||
char full_path[0x100];
|
||||
|
||||
#ifdef __APPLE__
|
||||
snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
|
||||
#else
|
||||
snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
|
||||
#endif
|
||||
|
||||
*fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
assert(*fd >= 0);
|
||||
|
||||
unlink(full_path);
|
||||
|
||||
ftruncate(*fd, len);
|
||||
void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
|
||||
assert(addr != MAP_FAILED);
|
||||
|
||||
return addr;
|
||||
}
|
||||
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
int fd;
|
||||
void *addr = malloc_with_fd(len, &fd);
|
||||
|
||||
this->len = len;
|
||||
this->mmap_len = len;
|
||||
this->addr = addr;
|
||||
this->fd = fd;
|
||||
}
|
||||
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
|
||||
int err;
|
||||
|
||||
this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
|
||||
assert(err == 0);
|
||||
|
||||
this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::import(){
|
||||
assert(this->fd >= 0);
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::sync(int dir) {
|
||||
int err = 0;
|
||||
if (!this->buf_cl) return;
|
||||
|
||||
if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
|
||||
err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
} else {
|
||||
err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
}
|
||||
assert(err == 0);
|
||||
clFinish(this->copy_q);
|
||||
}
|
||||
|
||||
void VisionBuf::free() {
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
|
||||
clReleaseCommandQueue(this->copy_q);
|
||||
}
|
||||
|
||||
munmap(this->addr, this->len);
|
||||
close(this->fd);
|
||||
}
|
||||
@@ -1,148 +0,0 @@
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/stat.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <linux/ion.h>
|
||||
#include <CL/cl_ext.h>
|
||||
|
||||
#include <msm_ion.h>
|
||||
|
||||
#include "visionbuf.h"
|
||||
|
||||
|
||||
// just hard-code these for convenience
|
||||
// size_t device_page_size = 0;
|
||||
// clGetDeviceInfo(device_id, CL_DEVICE_PAGE_SIZE_QCOM,
|
||||
// sizeof(device_page_size), &device_page_size,
|
||||
// NULL);
|
||||
|
||||
// size_t padding_cl = 0;
|
||||
// clGetDeviceInfo(device_id, CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM,
|
||||
// sizeof(padding_cl), &padding_cl,
|
||||
// NULL);
|
||||
#define DEVICE_PAGE_SIZE_CL 4096
|
||||
#define PADDING_CL 0
|
||||
|
||||
static int ion_fd = -1;
|
||||
static void ion_init() {
|
||||
if (ion_fd == -1) {
|
||||
ion_fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
|
||||
}
|
||||
}
|
||||
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
int err;
|
||||
|
||||
ion_init();
|
||||
|
||||
struct ion_allocation_data ion_alloc = {0};
|
||||
ion_alloc.len = len + PADDING_CL;
|
||||
ion_alloc.align = 4096;
|
||||
ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
|
||||
ion_alloc.flags = ION_FLAG_CACHED;
|
||||
|
||||
err = ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc);
|
||||
assert(err == 0);
|
||||
|
||||
struct ion_fd_data ion_fd_data = {0};
|
||||
ion_fd_data.handle = ion_alloc.handle;
|
||||
err = ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data);
|
||||
assert(err == 0);
|
||||
|
||||
void *addr = mmap(NULL, ion_alloc.len,
|
||||
PROT_READ | PROT_WRITE,
|
||||
MAP_SHARED, ion_fd_data.fd, 0);
|
||||
assert(addr != MAP_FAILED);
|
||||
|
||||
memset(addr, 0, ion_alloc.len);
|
||||
|
||||
this->owner = true;
|
||||
this->len = len;
|
||||
this->mmap_len = ion_alloc.len;
|
||||
this->addr = addr;
|
||||
this->handle = ion_alloc.handle;
|
||||
this->fd = ion_fd_data.fd;
|
||||
}
|
||||
|
||||
void VisionBuf::import(){
|
||||
int err;
|
||||
assert(this->fd >= 0);
|
||||
|
||||
ion_init();
|
||||
|
||||
// Get handle
|
||||
struct ion_fd_data fd_data = {0};
|
||||
fd_data.fd = this->fd;
|
||||
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
|
||||
assert(err == 0);
|
||||
|
||||
this->owner = false;
|
||||
this->handle = fd_data.handle;
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
}
|
||||
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
|
||||
int err;
|
||||
|
||||
assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);
|
||||
|
||||
cl_mem_ion_host_ptr ion_cl = {0};
|
||||
ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
|
||||
ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
|
||||
ion_cl.ion_filedesc = this->fd;
|
||||
ion_cl.ion_hostptr = this->addr;
|
||||
|
||||
this->buf_cl = clCreateBuffer(ctx,
|
||||
CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
|
||||
this->len, &ion_cl, &err);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::sync(int dir) {
|
||||
int err;
|
||||
|
||||
struct ion_flush_data flush_data = {0};
|
||||
flush_data.handle = this->handle;
|
||||
flush_data.vaddr = this->addr;
|
||||
flush_data.offset = 0;
|
||||
flush_data.length = this->len;
|
||||
|
||||
// ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
|
||||
// ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
|
||||
// ION_IOC_CLEAN_INV_CACHES ~= DMA_BIDIRECTIONAL
|
||||
|
||||
struct ion_custom_data custom_data = {0};
|
||||
|
||||
assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
|
||||
custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
|
||||
ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
|
||||
|
||||
custom_data.arg = (unsigned long)&flush_data;
|
||||
err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
void VisionBuf::free() {
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
munmap(this->addr, this->mmap_len);
|
||||
close(this->fd);
|
||||
|
||||
// Free the ION buffer if we also shared it
|
||||
if (this->owner){
|
||||
struct ion_handle_data handle_data = {.handle = this->handle};
|
||||
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
assert(ret == 0);
|
||||
}
|
||||
}
|
||||
@@ -1,18 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstddef>
|
||||
|
||||
constexpr int VISIONIPC_MAX_FDS = 64;
|
||||
|
||||
struct VisionIpcBufExtra {
|
||||
uint32_t frame_id;
|
||||
uint64_t timestamp_sof;
|
||||
uint64_t timestamp_eof;
|
||||
};
|
||||
|
||||
struct VisionIpcPacket {
|
||||
uint64_t server_id;
|
||||
size_t idx;
|
||||
struct VisionIpcBufExtra extra;
|
||||
};
|
||||
@@ -1,29 +0,0 @@
|
||||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "visionbuf.h":
|
||||
cdef enum VisionStreamType:
|
||||
pass
|
||||
|
||||
cdef cppclass VisionBuf:
|
||||
void * addr
|
||||
size_t len
|
||||
|
||||
cdef extern from "visionipc.h":
|
||||
struct VisionIpcBufExtra:
|
||||
uint32_t frame_id
|
||||
uint64_t timestamp_sof
|
||||
uint64_t timestamp_eof
|
||||
|
||||
cdef extern from "visionipc_server.h":
|
||||
cdef cppclass VisionIpcServer:
|
||||
VisionIpcServer(string, void*, void*)
|
||||
void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
|
||||
VisionBuf * get_buffer(VisionStreamType)
|
||||
void send(VisionBuf *, VisionIpcBufExtra *, bool)
|
||||
void start_listener()
|
||||
@@ -1,119 +0,0 @@
|
||||
#include <chrono>
|
||||
#include <cassert>
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
|
||||
#include "ipc.h"
|
||||
#include "visionipc_client.h"
|
||||
#include "visionipc_server.h"
|
||||
|
||||
VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
|
||||
msg_ctx = Context::create();
|
||||
sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
|
||||
|
||||
poller = Poller::create();
|
||||
poller->registerSocket(sock);
|
||||
}
|
||||
|
||||
// Connect is not thread safe. Do not use the buffers while calling connect
|
||||
bool VisionIpcClient::connect(bool blocking){
|
||||
connected = false;
|
||||
|
||||
// Cleanup old buffers on reconnect
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
}
|
||||
num_buffers = 0;
|
||||
|
||||
// Connect to server socket and ask for all FDs of type
|
||||
std::string path = "/tmp/visionipc_" + name;
|
||||
|
||||
int socket_fd = -1;
|
||||
while (socket_fd < 0) {
|
||||
socket_fd = ipc_connect(path.c_str());
|
||||
|
||||
if (socket_fd < 0) {
|
||||
if (blocking){
|
||||
std::cout << "VisionIpcClient connecting" << std::endl;
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Send stream type to server to request FDs
|
||||
int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
|
||||
assert(r == sizeof(type));
|
||||
|
||||
// Get FDs
|
||||
int fds[VISIONIPC_MAX_FDS];
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS];
|
||||
r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
|
||||
|
||||
assert(num_buffers > 0);
|
||||
assert(r == sizeof(VisionBuf) * num_buffers);
|
||||
|
||||
// Import buffers
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i] = bufs[i];
|
||||
buffers[i].fd = fds[i];
|
||||
buffers[i].import();
|
||||
if (buffers[i].rgb) {
|
||||
buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
|
||||
} else {
|
||||
buffers[i].init_yuv(buffers[i].width, buffers[i].height);
|
||||
}
|
||||
|
||||
if (device_id) buffers[i].init_cl(device_id, ctx);
|
||||
}
|
||||
|
||||
connected = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
|
||||
auto p = poller->poll(timeout_ms);
|
||||
|
||||
if (!p.size()){
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
Message * r = sock->receive(true);
|
||||
if (r == nullptr){
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
// Get buffer
|
||||
assert(r->getSize() == sizeof(VisionIpcPacket));
|
||||
VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
|
||||
|
||||
assert(packet->idx < num_buffers);
|
||||
VisionBuf * buf = &buffers[packet->idx];
|
||||
|
||||
if (buf->server_id != packet->server_id){
|
||||
connected = false;
|
||||
delete r;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (extra) {
|
||||
*extra = packet->extra;
|
||||
}
|
||||
|
||||
buf->sync(VISIONBUF_SYNC_TO_DEVICE);
|
||||
delete r;
|
||||
return buf;
|
||||
}
|
||||
|
||||
|
||||
|
||||
VisionIpcClient::~VisionIpcClient(){
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
}
|
||||
|
||||
delete sock;
|
||||
delete poller;
|
||||
delete msg_ctx;
|
||||
}
|
||||
@@ -1,32 +0,0 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging.h"
|
||||
#include "visionipc.h"
|
||||
#include "visionbuf.h"
|
||||
|
||||
class VisionIpcClient {
|
||||
private:
|
||||
std::string name;
|
||||
Context * msg_ctx;
|
||||
SubSocket * sock;
|
||||
Poller * poller;
|
||||
|
||||
VisionStreamType type;
|
||||
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
|
||||
void init_msgq(bool conflate);
|
||||
|
||||
public:
|
||||
bool connected = false;
|
||||
int num_buffers = 0;
|
||||
VisionBuf buffers[VISIONIPC_MAX_FDS];
|
||||
VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcClient();
|
||||
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
|
||||
bool connect(bool blocking=true);
|
||||
};
|
||||
@@ -1,49 +0,0 @@
|
||||
# distutils: language = c++
|
||||
# cython: c_string_encoding=ascii, language_level=3
|
||||
|
||||
import sys
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
from libc.string cimport memcpy
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
|
||||
from .visionipc cimport VisionIpcServer as cppVisionIpcServer
|
||||
from .visionipc cimport VisionBuf as cppVisionBuf
|
||||
from .visionipc cimport VisionIpcBufExtra
|
||||
|
||||
cpdef enum VisionStreamType:
|
||||
VISION_STREAM_RGB_BACK
|
||||
VISION_STREAM_RGB_FRONT
|
||||
VISION_STREAM_RGB_WIDE
|
||||
VISION_STREAM_YUV_BACK
|
||||
VISION_STREAM_YUV_FRONT
|
||||
VISION_STREAM_YUV_WIDE
|
||||
|
||||
cdef class VisionIpcServer:
|
||||
cdef cppVisionIpcServer * server
|
||||
|
||||
def __init__(self, string name):
|
||||
self.server = new cppVisionIpcServer(name, NULL, NULL)
|
||||
|
||||
def create_buffers(self, VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
|
||||
self.server.create_buffers(tp, num_buffers, rgb, width, height)
|
||||
|
||||
def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
|
||||
cdef cppVisionBuf * buf = self.server.get_buffer(tp)
|
||||
|
||||
# Populate buffer
|
||||
assert buf.len == len(data)
|
||||
memcpy(buf.addr, <char*>data, len(data))
|
||||
|
||||
cdef VisionIpcBufExtra extra
|
||||
extra.frame_id = frame_id
|
||||
extra.timestamp_sof = timestamp_sof
|
||||
extra.timestamp_eof = timestamp_eof
|
||||
|
||||
self.server.send(buf, &extra, False)
|
||||
|
||||
def start_listener(self):
|
||||
self.server.start_listener()
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.server
|
||||
@@ -1,179 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <chrono>
|
||||
#include <cassert>
|
||||
#include <random>
|
||||
|
||||
#include <poll.h>
|
||||
#include <sys/socket.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging.h"
|
||||
#include "ipc.h"
|
||||
#include "visionipc_server.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type){
|
||||
if (messaging_use_zmq()){
|
||||
assert(name == "camerad");
|
||||
return std::to_string(9000 + static_cast<int>(type));
|
||||
} else {
|
||||
return "visionipc_" + name + "_" + std::to_string(type);
|
||||
}
|
||||
}
|
||||
|
||||
VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
|
||||
msg_ctx = Context::create();
|
||||
|
||||
std::random_device rd("/dev/urandom");
|
||||
std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
|
||||
server_id = distribution(rd);
|
||||
}
|
||||
|
||||
void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
|
||||
// TODO: assert that this type is not created yet
|
||||
assert(num_buffers < VISIONIPC_MAX_FDS);
|
||||
int aligned_w = 0, aligned_h = 0;
|
||||
|
||||
size_t size = 0;
|
||||
size_t stride = 0; // Only used for RGB
|
||||
|
||||
if (rgb) {
|
||||
visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
|
||||
size = (size_t)aligned_w * (size_t)aligned_h * 3;
|
||||
stride = aligned_w * 3;
|
||||
} else {
|
||||
size = width * height * 3 / 2;
|
||||
}
|
||||
|
||||
|
||||
// Create map + alloc requested buffers
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
VisionBuf* buf = new VisionBuf();
|
||||
buf->allocate(size);
|
||||
buf->idx = i;
|
||||
buf->type = type;
|
||||
|
||||
if (device_id) buf->init_cl(device_id, ctx);
|
||||
|
||||
rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
|
||||
|
||||
buffers[type].push_back(buf);
|
||||
}
|
||||
|
||||
cur_idx[type] = 0;
|
||||
|
||||
// Create msgq publisher for each of the `name` + type combos
|
||||
// TODO: compute port number directly if using zmq
|
||||
sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
|
||||
}
|
||||
|
||||
|
||||
void VisionIpcServer::start_listener(){
|
||||
listener_thread = std::thread(&VisionIpcServer::listener, this);
|
||||
}
|
||||
|
||||
|
||||
void VisionIpcServer::listener(){
|
||||
std::cout << "Starting listener for: " << name << std::endl;
|
||||
|
||||
std::string path = "/tmp/visionipc_" + name;
|
||||
int sock = ipc_bind(path.c_str());
|
||||
assert(sock >= 0);
|
||||
|
||||
while (!should_exit){
|
||||
// Wait for incoming connection
|
||||
struct pollfd polls[1] = {{0}};
|
||||
polls[0].fd = sock;
|
||||
polls[0].events = POLLIN;
|
||||
|
||||
int ret = poll(polls, 1, 100);
|
||||
if (ret < 0) {
|
||||
if (errno == EINTR || errno == EAGAIN) continue;
|
||||
std::cout << "poll failed, stopping listener" << std::endl;
|
||||
break;
|
||||
}
|
||||
|
||||
if (should_exit) break;
|
||||
if (!polls[0].revents) {
|
||||
continue;
|
||||
}
|
||||
|
||||
// Handle incoming request
|
||||
int fd = accept(sock, NULL, NULL);
|
||||
assert(fd >= 0);
|
||||
|
||||
VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
|
||||
int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
|
||||
assert(r == sizeof(type));
|
||||
if (buffers.count(type) <= 0) {
|
||||
std::cout << "got request for invalid buffer type: " << type << std::endl;
|
||||
close(fd);
|
||||
continue;
|
||||
}
|
||||
|
||||
int fds[VISIONIPC_MAX_FDS];
|
||||
int num_fds = buffers[type].size();
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS];
|
||||
|
||||
for (int i = 0; i < num_fds; i++){
|
||||
fds[i] = buffers[type][i]->fd;
|
||||
bufs[i] = *buffers[type][i];
|
||||
|
||||
// Remove some private openCL/ion metadata
|
||||
bufs[i].buf_cl = 0;
|
||||
bufs[i].copy_q = 0;
|
||||
bufs[i].handle = 0;
|
||||
bufs[i].owner = false;
|
||||
|
||||
bufs[i].server_id = server_id;
|
||||
}
|
||||
|
||||
r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
|
||||
|
||||
close(fd);
|
||||
}
|
||||
|
||||
std::cout << "Stopping listener for: " << name << std::endl;
|
||||
close(sock);
|
||||
}
|
||||
|
||||
|
||||
|
||||
VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
|
||||
// Do we want to keep track if the buffer has been sent out yet and warn user?
|
||||
assert(buffers.count(type));
|
||||
auto b = buffers[type];
|
||||
return b[cur_idx[type]++ % b.size()];
|
||||
}
|
||||
|
||||
void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
|
||||
if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
|
||||
assert(buffers.count(buf->type));
|
||||
assert(buf->idx < buffers[buf->type].size());
|
||||
|
||||
// Send over correct msgq socket
|
||||
VisionIpcPacket packet = {0};
|
||||
packet.server_id = server_id;
|
||||
packet.idx = buf->idx;
|
||||
packet.extra = *extra;
|
||||
|
||||
sockets[buf->type]->send((char*)&packet, sizeof(packet));
|
||||
}
|
||||
|
||||
VisionIpcServer::~VisionIpcServer(){
|
||||
should_exit = true;
|
||||
listener_thread.join();
|
||||
|
||||
// VisionBuf cleanup
|
||||
for( auto const& [type, buf] : buffers ) {
|
||||
for (VisionBuf* b : buf){
|
||||
b->free();
|
||||
delete b;
|
||||
}
|
||||
}
|
||||
|
||||
// Messaging cleanup
|
||||
for( auto const& [type, sock] : sockets ) {
|
||||
delete sock;
|
||||
}
|
||||
delete msg_ctx;
|
||||
}
|
||||
@@ -1,42 +0,0 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
#include <atomic>
|
||||
#include <map>
|
||||
|
||||
#include "messaging.h"
|
||||
#include "visionipc.h"
|
||||
#include "visionbuf.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type);
|
||||
|
||||
class VisionIpcServer {
|
||||
private:
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
uint64_t server_id;
|
||||
|
||||
std::atomic<bool> should_exit = false;
|
||||
std::string name;
|
||||
std::thread listener_thread;
|
||||
|
||||
std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
|
||||
std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
|
||||
std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
|
||||
|
||||
Context * msg_ctx;
|
||||
std::map<VisionStreamType, PubSocket*> sockets;
|
||||
|
||||
void listener(void);
|
||||
|
||||
public:
|
||||
VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcServer();
|
||||
|
||||
VisionBuf * get_buffer(VisionStreamType type);
|
||||
|
||||
void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
|
||||
void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
|
||||
void start_listener();
|
||||
};
|
||||
@@ -1,135 +0,0 @@
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "visionipc_server.h"
|
||||
#include "visionipc_client.h"
|
||||
|
||||
static void zmq_sleep(int milliseconds=1000){
|
||||
if (messaging_use_zmq()){
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("Connecting"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
|
||||
REQUIRE(client.connected);
|
||||
}
|
||||
|
||||
TEST_CASE("Check buffers"){
|
||||
size_t width = 100, height = 200, num_buffers = 5;
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
|
||||
REQUIRE(client.buffers[0].width == width);
|
||||
REQUIRE(client.buffers[0].height == height);
|
||||
REQUIRE(client.buffers[0].len);
|
||||
REQUIRE(client.num_buffers == num_buffers);
|
||||
}
|
||||
|
||||
TEST_CASE("Check yuv/rgb"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
|
||||
client_yuv.connect();
|
||||
client_rgb.connect();
|
||||
|
||||
REQUIRE(client_rgb.buffers[0].rgb == true);
|
||||
REQUIRE(client_yuv.buffers[0].rgb == false);
|
||||
}
|
||||
|
||||
TEST_CASE("Send single buffer"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
*((uint64_t*)buf->addr) = 1234;
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1337;
|
||||
|
||||
server.send(buf, &extra);
|
||||
|
||||
VisionIpcBufExtra extra_recv = {0};
|
||||
VisionBuf * recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
|
||||
REQUIRE(extra_recv.frame_id == extra.frame_id);
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("Test no conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1;
|
||||
server.send(buf, &extra);
|
||||
extra.frame_id = 2;
|
||||
server.send(buf, &extra);
|
||||
|
||||
VisionIpcBufExtra extra_recv = {0};
|
||||
VisionBuf * recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(extra_recv.frame_id == 1);
|
||||
|
||||
recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(extra_recv.frame_id == 2);
|
||||
}
|
||||
|
||||
TEST_CASE("Test conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1;
|
||||
server.send(buf, &extra);
|
||||
extra.frame_id = 2;
|
||||
server.send(buf, &extra);
|
||||
|
||||
VisionIpcBufExtra extra_recv = {0};
|
||||
VisionBuf * recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(extra_recv.frame_id == 2);
|
||||
|
||||
recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf == nullptr);
|
||||
}
|
||||
1
common/.gitignore
vendored
1
common/.gitignore
vendored
@@ -1 +0,0 @@
|
||||
*.cpp
|
||||
@@ -1,4 +0,0 @@
|
||||
Import('envCython', 'common')
|
||||
|
||||
envCython.Program('clock.so', 'clock.pyx')
|
||||
envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
|
||||
@@ -1,38 +1,7 @@
|
||||
import jwt
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
from common.basedir import PERSIST
|
||||
|
||||
from selfdrive.version import version
|
||||
|
||||
class Api():
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
with open(PERSIST+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
|
||||
def post(self, *args, **kwargs):
|
||||
return self.request('POST', *args, **kwargs)
|
||||
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
|
||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def get_token(self):
|
||||
now = datetime.utcnow()
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=1)
|
||||
}
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
@@ -42,4 +11,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + version
|
||||
|
||||
return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)
|
||||
return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
|
||||
|
||||
|
||||
@@ -1,11 +0,0 @@
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
from selfdrive.hardware import PC, JETSON
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
if PC or JETSON:
|
||||
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
@@ -1,24 +0,0 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
|
||||
|
||||
IF UNAME_SYSNAME == "Darwin":
|
||||
# Darwin doesn't have a CLOCK_BOOTTIME
|
||||
CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
|
||||
ELSE:
|
||||
from posix.time cimport CLOCK_BOOTTIME
|
||||
|
||||
cdef double readclock(clockid_t clock_id):
|
||||
cdef timespec ts
|
||||
cdef double current
|
||||
|
||||
clock_gettime(clock_id, &ts)
|
||||
current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
|
||||
return current
|
||||
|
||||
def monotonic_time():
|
||||
return readclock(CLOCK_MONOTONIC_RAW)
|
||||
|
||||
def sec_since_boot():
|
||||
return readclock(CLOCK_BOOTTIME)
|
||||
|
||||
36
common/crash.py
Normal file
36
common/crash.py
Normal file
@@ -0,0 +1,36 @@
|
||||
"""Install exception handler for process crash."""
|
||||
import os
|
||||
import sys
|
||||
|
||||
if os.getenv("NOLOG"):
|
||||
def capture_exception(*exc_info):
|
||||
pass
|
||||
def bind_user(**kwargs):
|
||||
pass
|
||||
def bind_extra(**kwargs):
|
||||
pass
|
||||
def install():
|
||||
pass
|
||||
else:
|
||||
from raven import Client
|
||||
from raven.transport.http import HTTPTransport
|
||||
|
||||
client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
|
||||
install_sys_hook=False, transport=HTTPTransport)
|
||||
|
||||
capture_exception = client.captureException
|
||||
|
||||
def bind_user(**kwargs):
|
||||
client.user_context(kwargs)
|
||||
|
||||
def bind_extra(**kwargs):
|
||||
client.extra_context(kwargs)
|
||||
|
||||
def install():
|
||||
# installs a sys.excepthook
|
||||
__excepthook__ = sys.excepthook
|
||||
def handle_exception(*exc_info):
|
||||
if exc_info[0] not in (KeyboardInterrupt, SystemExit):
|
||||
client.captureException(exc_info=exc_info)
|
||||
__excepthook__(*exc_info)
|
||||
sys.excepthook = handle_exception
|
||||
@@ -1,23 +0,0 @@
|
||||
import os
|
||||
import sysconfig
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
195
common/dbc.py
Executable file
195
common/dbc.py
Executable file
@@ -0,0 +1,195 @@
|
||||
import re
|
||||
import os
|
||||
import struct
|
||||
import bitstring
|
||||
from collections import namedtuple
|
||||
|
||||
def int_or_float(s):
|
||||
# return number, trying to maintain int format
|
||||
try:
|
||||
return int(s)
|
||||
except ValueError:
|
||||
return float(s)
|
||||
|
||||
DBCSignal = namedtuple(
|
||||
"DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
|
||||
"factor", "offset", "tmin", "tmax", "units"])
|
||||
|
||||
class dbc(object):
|
||||
def __init__(self, fn):
|
||||
self.name, _ = os.path.splitext(os.path.basename(fn))
|
||||
with open(fn) as f:
|
||||
self.txt = f.read().split("\n")
|
||||
self._warned_addresses = set()
|
||||
|
||||
# regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
|
||||
bo_regexp = re.compile("^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
|
||||
sg_regexp = re.compile("^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
|
||||
sgm_regexp = re.compile("^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
|
||||
|
||||
# A dictionary which maps message ids to tuples ((name, size), signals).
|
||||
# name is the ASCII name of the message.
|
||||
# size is the size of the message in bytes.
|
||||
# signals is a list signals contained in the message.
|
||||
# signals is a list of DBCSignal in order of increasing start_bit.
|
||||
self.msgs = {}
|
||||
|
||||
# lookup to bit reverse each byte
|
||||
self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
|
||||
|
||||
for l in self.txt:
|
||||
l = l.strip()
|
||||
|
||||
if l.startswith("BO_ "):
|
||||
# new group
|
||||
dat = bo_regexp.match(l)
|
||||
|
||||
if dat is None:
|
||||
print "bad BO", l
|
||||
name = dat.group(2)
|
||||
size = int(dat.group(3))
|
||||
ids = int(dat.group(1), 0) # could be hex
|
||||
|
||||
self.msgs[ids] = ((name, size), [])
|
||||
|
||||
if l.startswith("SG_ "):
|
||||
# new signal
|
||||
dat = sg_regexp.match(l)
|
||||
go = 0
|
||||
if dat is None:
|
||||
dat = sgm_regexp.match(l)
|
||||
go = 1
|
||||
if dat is None:
|
||||
print "bad SG", l
|
||||
|
||||
sgname = dat.group(1)
|
||||
start_bit = int(dat.group(go+2))
|
||||
signal_size = int(dat.group(go+3))
|
||||
is_little_endian = int(dat.group(go+4))==1
|
||||
is_signed = dat.group(go+5)=='-'
|
||||
factor = int_or_float(dat.group(go+6))
|
||||
offset = int_or_float(dat.group(go+7))
|
||||
tmin = int_or_float(dat.group(go+8))
|
||||
tmax = int_or_float(dat.group(go+9))
|
||||
units = dat.group(go+10)
|
||||
|
||||
self.msgs[ids][1].append(
|
||||
DBCSignal(sgname, start_bit, signal_size, is_little_endian,
|
||||
is_signed, factor, offset, tmin, tmax, units))
|
||||
|
||||
for msg in self.msgs.viewvalues():
|
||||
msg[1].sort(key=lambda x: x.start_bit)
|
||||
|
||||
def encode(self, msg_id, dd):
|
||||
"""Encode a CAN message using the dbc.
|
||||
|
||||
Inputs:
|
||||
msg_id: The message ID.
|
||||
dd: A dictionary mapping signal name to signal data.
|
||||
"""
|
||||
# TODO: Stop using bitstring, which is super slow.
|
||||
msg_def = self.msgs[msg_id]
|
||||
size = msg_def[0][1]
|
||||
|
||||
bsf = bitstring.Bits(hex="00"*size)
|
||||
for s in msg_def[1]:
|
||||
ival = dd.get(s.name)
|
||||
if ival is not None:
|
||||
ival = (ival / s.factor) - s.offset
|
||||
ival = int(round(ival))
|
||||
|
||||
# should pack this
|
||||
if s.is_little_endian:
|
||||
ss = s.start_bit
|
||||
else:
|
||||
ss = self.bits_index[s.start_bit]
|
||||
|
||||
|
||||
if s.is_signed:
|
||||
tbs = bitstring.Bits(int=ival, length=s.size)
|
||||
else:
|
||||
tbs = bitstring.Bits(uint=ival, length=s.size)
|
||||
|
||||
lpad = bitstring.Bits(bin="0b"+"0"*ss)
|
||||
rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
|
||||
tbs = lpad+tbs+rpad
|
||||
|
||||
bsf |= tbs
|
||||
return bsf.tobytes()
|
||||
|
||||
def decode(self, x, arr=None, debug=False):
|
||||
"""Decode a CAN message using the dbc.
|
||||
|
||||
Inputs:
|
||||
x: A collection with elements (address, time, data), where address is
|
||||
the CAN address, time is the bus time, and data is the CAN data as a
|
||||
hex string.
|
||||
arr: Optional list of signals which should be decoded and returned.
|
||||
debug: True to print debugging statements.
|
||||
|
||||
Returns:
|
||||
A tuple (name, data), where name is the name of the CAN message and data
|
||||
is the decoded result. If arr is None, data is a dict of properties.
|
||||
Otherwise data is a list of the same length as arr.
|
||||
|
||||
Returns (None, None) if the message could not be decoded.
|
||||
"""
|
||||
|
||||
if arr is None:
|
||||
out = {}
|
||||
else:
|
||||
out = [None]*len(arr)
|
||||
|
||||
msg = self.msgs.get(x[0])
|
||||
if msg is None:
|
||||
if x[0] not in self._warned_addresses:
|
||||
print("WARNING: Unknown message address {}".format(x[0]))
|
||||
self._warned_addresses.add(x[0])
|
||||
return None, None
|
||||
|
||||
name = msg[0][0]
|
||||
if debug:
|
||||
print name
|
||||
|
||||
blen = 8*len(x[2])
|
||||
|
||||
st = x[2].rjust(8, '\x00')
|
||||
le, be = None, None
|
||||
|
||||
for s in msg[1]:
|
||||
if arr is not None and s[0] not in arr:
|
||||
continue
|
||||
|
||||
# big or little endian?
|
||||
# see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
|
||||
if s[3] is False:
|
||||
ss = self.bits_index[s[1]]
|
||||
if be is None:
|
||||
be = struct.unpack(">Q", st)[0]
|
||||
x2_int = be
|
||||
data_bit_pos = (blen - (ss + s[2]))
|
||||
else:
|
||||
if le is None:
|
||||
le = struct.unpack("<Q", st)[0]
|
||||
x2_int = le
|
||||
ss = s[1]
|
||||
data_bit_pos = ss
|
||||
|
||||
if data_bit_pos < 0:
|
||||
continue
|
||||
ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
|
||||
|
||||
if s[4] and (ival & (1<<(s[2]-1))): # signed
|
||||
ival -= (1<<s[2])
|
||||
|
||||
# control the offset
|
||||
ival = (ival * s[5]) + s[6]
|
||||
#if debug:
|
||||
# print "%40s %2d %2d %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
|
||||
|
||||
if arr is None:
|
||||
out[s[0]] = ival
|
||||
else:
|
||||
out[arr.index(s[0])] = ival
|
||||
return name, out
|
||||
|
||||
@@ -1,9 +0,0 @@
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
@@ -1,80 +0,0 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import subprocess
|
||||
from cereal import car
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
import os
|
||||
params = Params()
|
||||
PARAM_PATH = params.get_params_path() + '/d/'
|
||||
LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
|
||||
|
||||
def is_online():
|
||||
try:
|
||||
return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
|
||||
except ProcessLookupError:
|
||||
return False
|
||||
|
||||
def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
|
||||
if enabled:
|
||||
if dragonconf.dpLateralMode == 0 and blinker_on:
|
||||
steer_req = 0 if isinstance(steer_req, int) else False
|
||||
return steer_req
|
||||
|
||||
def common_interface_atl(ret, atl):
|
||||
# dp
|
||||
enable_acc = ret.cruiseState.enabled
|
||||
if atl and ret.cruiseState.available:
|
||||
enable_acc = True
|
||||
if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
|
||||
enable_acc = False
|
||||
if ret.seatbeltUnlatched or ret.doorOpen:
|
||||
enable_acc = False
|
||||
return enable_acc
|
||||
|
||||
def common_interface_get_params_lqr(ret):
|
||||
if params.get_bool('dp_lqr'):
|
||||
ret.lateralTuning.init('lqr')
|
||||
ret.lateralTuning.lqr.scale = 1500.0
|
||||
ret.lateralTuning.lqr.ki = 0.05
|
||||
|
||||
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
||||
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
||||
ret.lateralTuning.lqr.c = [1., 0.]
|
||||
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
|
||||
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
|
||||
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
|
||||
return ret
|
||||
|
||||
|
||||
def get_last_modified(delay, old_check, old_modified):
|
||||
new_check = sec_since_boot()
|
||||
if old_check is None or new_check - old_check >= delay:
|
||||
return new_check, os.stat(LAST_MODIFIED).st_mtime
|
||||
else:
|
||||
return old_check, old_modified
|
||||
|
||||
def param_get_if_updated(param, type, old_val, old_modified):
|
||||
try:
|
||||
modified = os.stat(PARAM_PATH + param).st_mtime
|
||||
except OSError:
|
||||
return old_val, old_modified
|
||||
if old_modified != modified:
|
||||
new_val = param_get(param, type, old_val)
|
||||
new_modified = modified
|
||||
else:
|
||||
new_val = old_val
|
||||
new_modified = old_modified
|
||||
return new_val, new_modified
|
||||
|
||||
def param_get(param_name, type, default):
|
||||
try:
|
||||
val = params.get(param_name, encoding='utf8').rstrip('\x00')
|
||||
if type == 'bool':
|
||||
val = val == '1'
|
||||
elif type == 'int':
|
||||
val = int(val)
|
||||
elif type == 'float':
|
||||
val = float(val)
|
||||
except (TypeError, ValueError):
|
||||
val = default
|
||||
return val
|
||||
@@ -1,214 +0,0 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import os
|
||||
import sys
|
||||
import json
|
||||
import time
|
||||
from math import floor
|
||||
|
||||
'''
|
||||
* type: Bool, Int8, UInt8, UInt16, Float32
|
||||
* conf_type: param, struct
|
||||
* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
|
||||
* update_once: True, False (the param will only load up once, need both param and struct defined)
|
||||
'''
|
||||
confs = [
|
||||
# thermald data
|
||||
{'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
{'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
|
||||
{'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# dashcam related
|
||||
{'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# auto shutdown
|
||||
{'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
|
||||
# service
|
||||
{'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_logger', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_athenad', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_uploader', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# lat ctrl
|
||||
{'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1,2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
# long ctrl
|
||||
{'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# safety
|
||||
{'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# UIs
|
||||
{'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dev_mini', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# toyota
|
||||
{'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# hyundai
|
||||
{'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# honda
|
||||
{'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# volkswagen
|
||||
{'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_vw_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
#misc
|
||||
{'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
{'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
|
||||
{'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_path_offset', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
|
||||
{'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# sr learner related
|
||||
{'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_appd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_panda_fake_black', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_debug', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
]
|
||||
|
||||
def get_definition(name):
|
||||
for conf in confs:
|
||||
if conf['name'] == name:
|
||||
return conf
|
||||
return None
|
||||
|
||||
def to_param_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
type = conf['type'].lower()
|
||||
try:
|
||||
if 'bool' in type:
|
||||
val = '1' if val else '0'
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return str(val)
|
||||
except (ValueError, TypeError):
|
||||
return ''
|
||||
return ''
|
||||
|
||||
def to_struct_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
try:
|
||||
type = conf['type'].lower()
|
||||
if 'bool' in type:
|
||||
val = True if val == '1' else False
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return val
|
||||
except (ValueError, TypeError):
|
||||
return None
|
||||
return None
|
||||
|
||||
'''
|
||||
function to convert param name into struct name.
|
||||
'''
|
||||
def get_struct_name(snake_str):
|
||||
components = snake_str.split('_')
|
||||
# We capitalize the first letter of each component except the first one
|
||||
# with the 'title' method and join them together.
|
||||
return components[0] + ''.join(x.title() for x in components[1:])
|
||||
|
||||
'''
|
||||
function to generate struct for log.capnp
|
||||
'''
|
||||
def gen_log_struct():
|
||||
count = 0
|
||||
str = "# dp\n"
|
||||
str += "struct DragonConf {\n"
|
||||
for conf in confs:
|
||||
name = get_struct_name(conf['name'])
|
||||
if 'struct' in conf['conf_type']:
|
||||
str += f" {name} @{count} :{conf['type']};\n"
|
||||
count += 1
|
||||
str += "}"
|
||||
print(str)
|
||||
|
||||
'''
|
||||
function to generate support car list
|
||||
'''
|
||||
def get_support_car_list():
|
||||
attrs = ['FINGERPRINTS', 'FW_VERSIONS']
|
||||
cars = dict({"cars": []})
|
||||
for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
|
||||
try:
|
||||
car_name = car_folder.split('/')[-1]
|
||||
if car_name != "mock":
|
||||
names = []
|
||||
for attr in attrs:
|
||||
values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
|
||||
if hasattr(values, attr):
|
||||
attr_values = getattr(values, attr)
|
||||
else:
|
||||
continue
|
||||
if isinstance(attr_values, dict):
|
||||
for f, v in attr_values.items():
|
||||
if f not in names:
|
||||
names.append(f)
|
||||
names.sort()
|
||||
brand_models = {"brand": car_name.upper(), "models": names }
|
||||
cars["cars"].append(brand_models)
|
||||
except (ImportError, IOError, ValueError):
|
||||
pass
|
||||
return json.dumps(cars)
|
||||
|
||||
'''
|
||||
function to init param value.
|
||||
should add this into manager.py
|
||||
'''
|
||||
def init_params_vals(params):
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
if conf['name'] == 'dp_car_list':
|
||||
params.put(conf['name'], get_support_car_list())
|
||||
elif params.get(conf['name']) is None:
|
||||
params.put(conf['name'], to_param_val(conf['name'], conf['default']))
|
||||
|
||||
def gen_params_cc_keys():
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
print(" {\"%s\", PERSISTENT}," % conf['name'])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
if (len(sys.argv) > 1) and sys.argv[1] == 'cc':
|
||||
gen_params_cc_keys()
|
||||
else:
|
||||
gen_log_struct()
|
||||
@@ -1,7 +0,0 @@
|
||||
#!/usr/bin/env python3.7
|
||||
|
||||
# delay of reading last modified
|
||||
LAST_MODIFIED_THERMALD = 10.
|
||||
LAST_MODIFIED_SYSTEMD = 1.
|
||||
LAST_MODIFIED_LANE_PLANNER = 3.
|
||||
LAST_MODIFIED_UPLOADER = 10.
|
||||
@@ -1,55 +0,0 @@
|
||||
import os
|
||||
import sys
|
||||
import fcntl
|
||||
import hashlib
|
||||
import platform
|
||||
from cffi import FFI
|
||||
|
||||
def suffix():
|
||||
if platform.system() == "Darwin":
|
||||
return ".dylib"
|
||||
else:
|
||||
return ".so"
|
||||
|
||||
def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
|
||||
if libraries is None:
|
||||
libraries = []
|
||||
|
||||
cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
|
||||
try:
|
||||
os.mkdir(tmpdir)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
fd = os.open(tmpdir, 0)
|
||||
fcntl.flock(fd, fcntl.LOCK_EX)
|
||||
try:
|
||||
sys.path.append(tmpdir)
|
||||
try:
|
||||
mod = __import__(cache)
|
||||
except Exception:
|
||||
print("cache miss {0}".format(cache))
|
||||
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
|
||||
mod = __import__(cache)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
return mod.ffi, mod.lib
|
||||
|
||||
|
||||
def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
|
||||
if libraries is None:
|
||||
libraries = []
|
||||
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
|
||||
os.environ['CFLAGS'] = cflags
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
|
||||
def wrap_compiled(name, directory):
|
||||
sys.path.append(directory)
|
||||
mod = __import__(name)
|
||||
return mod.ffi, mod.lib
|
||||
@@ -1,122 +0,0 @@
|
||||
import os
|
||||
import shutil
|
||||
import tempfile
|
||||
from atomicwrites import AtomicWriter
|
||||
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
if path.startswith('http://') or path.startswith('https://'):
|
||||
raise ValueError('URL path')
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_not_exists_ok(path):
|
||||
try:
|
||||
os.remove(path)
|
||||
except OSError:
|
||||
if os.path.exists(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_tree_or_link(path):
|
||||
if os.path.islink(path):
|
||||
os.unlink(path)
|
||||
elif os.path.isdir(path):
|
||||
shutil.rmtree(path)
|
||||
|
||||
|
||||
def get_tmpdir_on_same_filesystem(path):
|
||||
normpath = os.path.normpath(path)
|
||||
parts = normpath.split("/")
|
||||
if len(parts) > 1 and parts[1] == "scratch":
|
||||
return "/scratch/tmp"
|
||||
elif len(parts) > 2 and parts[2] == "runner":
|
||||
return "/{}/runner/tmp".format(parts[1])
|
||||
return "/tmp"
|
||||
|
||||
|
||||
class AutoMoveTempdir():
|
||||
def __init__(self, target_path, temp_dir=None):
|
||||
self._target_path = target_path
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
|
||||
@property
|
||||
def name(self):
|
||||
return self._path
|
||||
|
||||
def close(self):
|
||||
os.rename(self._path, self._target_path)
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
if exc_type is None:
|
||||
self.close()
|
||||
else:
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
|
||||
class NamedTemporaryDir():
|
||||
def __init__(self, temp_dir=None):
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
|
||||
@property
|
||||
def name(self):
|
||||
return self._path
|
||||
|
||||
def close(self):
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
def _get_fileobject_func(writer, temp_dir):
|
||||
def _get_fileobject():
|
||||
file_obj = writer.get_fileobject(dir=temp_dir)
|
||||
os.chmod(file_obj.name, 0o644)
|
||||
return file_obj
|
||||
return _get_fileobject
|
||||
|
||||
|
||||
def atomic_write_on_fs_tmp(path, **kwargs):
|
||||
"""Creates an atomic writer using a temporary file in a temporary directory
|
||||
on the same filesystem as path.
|
||||
"""
|
||||
# TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
|
||||
# directory.
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
|
||||
|
||||
|
||||
def atomic_write_in_dir(path, **kwargs):
|
||||
"""Creates an atomic writer using a temporary file in the same directory
|
||||
as the destination file.
|
||||
"""
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
|
||||
|
||||
|
||||
def atomic_write_in_dir_neos(path, contents, mode=None):
|
||||
"""
|
||||
Atomically writes contents to path using a temporary file in the same directory
|
||||
as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
|
||||
"""
|
||||
|
||||
f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
|
||||
f.write(contents)
|
||||
f.flush()
|
||||
if mode is not None:
|
||||
os.fchmod(f.fileno(), mode)
|
||||
os.fsync(f.fileno())
|
||||
f.close()
|
||||
|
||||
os.rename(f.name, path)
|
||||
@@ -1,9 +0,0 @@
|
||||
class FirstOrderFilter():
|
||||
# first order filter
|
||||
def __init__(self, x0, ts, dt):
|
||||
self.k = (dt / ts) / (1. + dt / ts)
|
||||
self.x = x0
|
||||
|
||||
def update(self, x):
|
||||
self.x = (1. - self.k) * self.x + self.k * x
|
||||
return self.x
|
||||
82
common/fingerprints.py
Normal file
82
common/fingerprints.py
Normal file
@@ -0,0 +1,82 @@
|
||||
import os
|
||||
|
||||
_FINGERPRINTS = {
|
||||
"ACURA ILX 2016 ACURAWATCH PLUS": {
|
||||
1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
|
||||
# sent messages
|
||||
0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
|
||||
},
|
||||
"HONDA CIVIC 2016 TOURING": {
|
||||
1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
|
||||
# sent messages
|
||||
0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
|
||||
},
|
||||
"HONDA ACCORD 2016 TOURING": {
|
||||
1024L: 5, 929L: 8, 1027L: 5, 773L: 7, 1601L: 8, 777L: 8, 1036L: 8, 398L: 3, 1039L: 8, 401L: 8, 145L: 8, 1424L: 5, 660L: 8, 661L: 4, 918L: 7, 985L: 3, 923L: 2, 542L: 7, 927L: 8, 800L: 8, 545L: 4, 420L: 8, 422L: 8, 808L: 8, 426L: 8, 1029L: 8, 432L: 7, 57L: 3, 316L: 8, 829L: 5, 1600L: 5, 1089L: 8, 1057L: 5, 780L: 8, 1088L: 8, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 476L: 4, 1296L: 3, 891L: 8, 1125L: 8, 487L: 4, 892L: 8, 490L: 8, 871L: 8, 1064L: 7, 882L: 2, 884L: 8, 506L: 8, 507L: 1, 380L: 8, 1365L: 5
|
||||
},
|
||||
"HONDA CR-V 2016 TOURING": {
|
||||
57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
|
||||
# sent messages
|
||||
0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
|
||||
}
|
||||
}
|
||||
|
||||
def eliminate_incompatible_cars(msg, candidate_cars):
|
||||
"""Removes cars that could not have sent msg.
|
||||
|
||||
Inputs:
|
||||
msg: A cereal/log CanData message from the car.
|
||||
candidate_cars: A list of cars to consider.
|
||||
|
||||
Returns:
|
||||
A list containing the subset of candidate_cars that could have sent msg.
|
||||
"""
|
||||
compatible_cars = []
|
||||
for car_name in candidate_cars:
|
||||
adr = msg.address
|
||||
if msg.src != 0 or (adr in _FINGERPRINTS[car_name] and
|
||||
_FINGERPRINTS[car_name][adr] == len(msg.dat)):
|
||||
compatible_cars.append(car_name)
|
||||
else:
|
||||
pass
|
||||
#isin = adr in _FINGERPRINTS[car_name]
|
||||
#print "eliminate", car_name, hex(adr), isin, len(msg.dat), msg.dat.encode("hex")
|
||||
return compatible_cars
|
||||
|
||||
def all_known_cars():
|
||||
"""Returns a list of all known car strings."""
|
||||
return _FINGERPRINTS.keys()
|
||||
|
||||
# **** for use live only ****
|
||||
def fingerprint(logcan):
|
||||
import selfdrive.messaging as messaging
|
||||
from cereal import car
|
||||
from common.realtime import sec_since_boot
|
||||
|
||||
if os.getenv("SIMULATOR") is not None or logcan is None:
|
||||
return ("simulator", None)
|
||||
elif os.getenv("SIMULATOR2") is not None:
|
||||
return ("simulator2", None)
|
||||
|
||||
print "waiting for fingerprint..."
|
||||
candidate_cars = all_known_cars()
|
||||
finger = {}
|
||||
st = None
|
||||
while 1:
|
||||
for a in messaging.drain_sock(logcan, wait_for_one=True):
|
||||
if st is None:
|
||||
st = sec_since_boot()
|
||||
for can in a.can:
|
||||
if can.src == 0:
|
||||
finger[can.address] = len(can.dat)
|
||||
candidate_cars = eliminate_incompatible_cars(can, candidate_cars)
|
||||
|
||||
# if we only have one car choice and it's been 100ms since we got our first message, exit
|
||||
if len(candidate_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
|
||||
break
|
||||
elif len(candidate_cars) == 0:
|
||||
print map(hex, finger.keys())
|
||||
raise Exception("car doesn't match any fingerprints")
|
||||
|
||||
print "fingerprinted", candidate_cars[0]
|
||||
return (candidate_cars[0], finger)
|
||||
@@ -1,14 +0,0 @@
|
||||
def gpio_init(pin, output):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
f.write(b"out" if output else b"in")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} direction: {e}")
|
||||
|
||||
|
||||
def gpio_set(pin, high):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
||||
f.write(b"1" if high else b"0")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
@@ -1,14 +0,0 @@
|
||||
import gettext
|
||||
from selfdrive.hardware import EON
|
||||
from selfdrive.hardware.eon.hardware import getprop
|
||||
|
||||
locale_dir = '/data/openpilot/selfdrive/assets/locales'
|
||||
supported_language = ['en-US', 'zh-TW', 'zh-CN', 'ja-JP', 'ko-KR']
|
||||
|
||||
def get_locale():
|
||||
return getprop("persist.sys.locale") if EON else 'en-US'
|
||||
|
||||
def events():
|
||||
i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
|
||||
i18n.install()
|
||||
return i18n.gettext
|
||||
1
common/kalman/.gitignore
vendored
1
common/kalman/.gitignore
vendored
@@ -1 +0,0 @@
|
||||
simple_kalman_impl.c
|
||||
@@ -1,3 +0,0 @@
|
||||
Import('envCython')
|
||||
|
||||
envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
|
||||
250
common/kalman/ekf.py
Normal file
250
common/kalman/ekf.py
Normal file
@@ -0,0 +1,250 @@
|
||||
import abc
|
||||
import numpy as np
|
||||
import numpy.matlib
|
||||
# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
|
||||
# A subclass must implement:
|
||||
# 1) calc_transfer_fun(); see bottom of file for more info.
|
||||
# 2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
|
||||
|
||||
# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
|
||||
|
||||
# Sensor classes are optionally used to pass measurement information into the EKF, to keep
|
||||
# sensor parameters and processing methods for a each sensor together.
|
||||
# Sensor classes have a read() method which takes raw sensor data and returns
|
||||
# a SensorReading object, which can be passed to the EKF update() method.
|
||||
|
||||
# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
|
||||
# ekf.predict(dt) should be called between update cycles with the time since it was last called.
|
||||
# Ideally, predict(dt) should be called at a relatively constant rate.
|
||||
# update() should be called once per sensor, and can be called multiple times between predict steps.
|
||||
# Access and set the state of the filter directly with ekf.state and ekf.covar.
|
||||
|
||||
class SensorReading:
|
||||
# Given a perfect model and no noise, data = obs_model * state
|
||||
def __init__(self, data, covar, obs_model):
|
||||
self.data = data
|
||||
self.obs_model = obs_model
|
||||
self.covar = covar
|
||||
|
||||
def __repr__(self):
|
||||
return "SensorReading(data={}, covar={}, obs_model={})".format(
|
||||
repr(self.data), repr(self.covar), repr(self.obs_model))
|
||||
|
||||
|
||||
# A generic sensor class that does no pre-processing of data
|
||||
class SimpleSensor:
|
||||
# obs_model can be
|
||||
# a full obesrvation model matrix, or
|
||||
# an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
|
||||
# covar can be
|
||||
# a full covariance matrix
|
||||
# a float or tuple of individual covars for each component of the sensor reading
|
||||
# dims is the number of states in the EKF
|
||||
def __init__(self, obs_model, covar, dims):
|
||||
# Allow for integer covar/obs_model
|
||||
if not hasattr(obs_model, "__len__"):
|
||||
obs_model = (obs_model, )
|
||||
if not hasattr(covar, "__len__"):
|
||||
covar = (covar, )
|
||||
|
||||
# Full observation model passed
|
||||
if dims in np.array(obs_model).shape:
|
||||
self.obs_model = np.asmatrix(obs_model)
|
||||
self.covar = np.asmatrix(covar)
|
||||
# Indices of unit observations passed
|
||||
else:
|
||||
self.obs_model = np.matlib.zeros((len(obs_model), dims))
|
||||
self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
|
||||
if np.asarray(covar).ndim == 2:
|
||||
self.covar = np.asmatrix(covar)
|
||||
elif len(covar) == len(obs_model):
|
||||
self.covar = np.matlib.diag(covar)
|
||||
else:
|
||||
self.covar = np.matlib.identity(len(obs_model)) * covar
|
||||
|
||||
def read(self, data, covar=None):
|
||||
if covar:
|
||||
self.covar = covar
|
||||
return SensorReading(data, self.covar, self.obs_model)
|
||||
|
||||
|
||||
class EKF:
|
||||
__metaclass__ = abc.ABCMeta
|
||||
|
||||
def __init__(self, debug=False):
|
||||
self.DEBUG = debug
|
||||
|
||||
|
||||
def __str__(self):
|
||||
return "EKF(state={}, covar={})".format(self.state, self.covar)
|
||||
|
||||
# Measurement update
|
||||
# Reading should be a SensorReading object with data, covar, and obs_model attributes
|
||||
def update(self, reading):
|
||||
# Potential improvements:
|
||||
# deal with negative covars
|
||||
# add noise to really low covars to ensure stability
|
||||
# use mahalanobis distance to reject outliers
|
||||
# wrap angles after state updates and innovation
|
||||
|
||||
# y = z - H*x
|
||||
innovation = reading.data - reading.obs_model * self.state
|
||||
|
||||
if self.DEBUG:
|
||||
print "reading:\n",reading.data
|
||||
print "innovation:\n",innovation
|
||||
|
||||
# S = H*P*H' + R
|
||||
innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
|
||||
|
||||
# K = P*H'*S^-1
|
||||
kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
|
||||
innovation_covar)
|
||||
|
||||
if self.DEBUG:
|
||||
print "gain:\n", kalman_gain
|
||||
print "innovation_covar:\n", innovation_covar
|
||||
print "innovation: ", innovation
|
||||
print "test: ", self.covar * reading.obs_model.T * (
|
||||
reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
|
||||
0).I
|
||||
|
||||
# x = x + K*y
|
||||
self.state += kalman_gain*innovation
|
||||
|
||||
# print "covar", np.diag(self.covar)
|
||||
#self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
|
||||
|
||||
# Standard form: P = (I - K*H)*P
|
||||
# self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
|
||||
|
||||
# Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
|
||||
aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
|
||||
self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
|
||||
|
||||
if self.DEBUG:
|
||||
print "After update"
|
||||
print "state\n", self.state
|
||||
print "covar:\n",self.covar
|
||||
|
||||
def update_scalar(self, reading):
|
||||
# like update but knowing that measurment is a scalar
|
||||
# this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
|
||||
|
||||
# innovation = reading.data - np.matmul(reading.obs_model, self.state)
|
||||
# innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
|
||||
# kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
|
||||
# self.state += np.matmul(kalman_gain, innovation)
|
||||
# aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
|
||||
# self.covar = np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
|
||||
|
||||
# written without np.matmul
|
||||
es = np.einsum
|
||||
ABC_T = "ij,jk,lk->il"
|
||||
AB_T = "ij,kj->ik"
|
||||
AB = "ij,jk->ik"
|
||||
innovation = reading.data - es(AB, reading.obs_model, self.state)
|
||||
innovation_covar = es(ABC_T, reading.obs_model, self.covar,
|
||||
reading.obs_model) + reading.covar
|
||||
kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
|
||||
|
||||
self.state += es(AB, kalman_gain, innovation)
|
||||
aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
|
||||
self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
|
||||
es(ABC_T, kalman_gain, reading.covar, kalman_gain)
|
||||
|
||||
# Prediction update
|
||||
def predict(self, dt):
|
||||
es = np.einsum
|
||||
ABC_T = "ij,jk,lk->il"
|
||||
AB = "ij,jk->ik"
|
||||
|
||||
# State update
|
||||
transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
|
||||
|
||||
# self.state = np.matmul(transfer_fun, self.state)
|
||||
# self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
|
||||
|
||||
# x = f(x, u), written in the form x = A(x, u)*x
|
||||
self.state = es(AB, transfer_fun, self.state)
|
||||
|
||||
# P = J*P*J' + Q
|
||||
self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
|
||||
transfer_fun_jacobian) + self.process_noise * dt #!dt
|
||||
|
||||
#! Clip covariance to avoid explosions
|
||||
self.covar = np.clip(self.covar,-1e10,1e10)
|
||||
|
||||
@abc.abstractmethod
|
||||
def calc_transfer_fun(self, dt):
|
||||
"""Return a tuple with the transfer function and transfer function jacobian
|
||||
The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
|
||||
|
||||
The transfer function matrix A should satisfy the state-update equation
|
||||
x_(k+1) = A * x_k
|
||||
|
||||
The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
|
||||
|
||||
Current implementations calculate A and J as functions of state. Control input
|
||||
can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
|
||||
and using it during calcualtion of A and J
|
||||
"""
|
||||
|
||||
class FastEKF1D(EKF):
|
||||
"""Fast version of EKF for 1D problems with scalar readings."""
|
||||
|
||||
def __init__(self, dt, var_init, Q):
|
||||
super(FastEKF1D, self).__init__(False)
|
||||
self.state = [0, 0]
|
||||
self.covar = [var_init, var_init, 0]
|
||||
|
||||
# Process Noise
|
||||
self.dtQ0 = dt * Q[0]
|
||||
self.dtQ1 = dt * Q[1]
|
||||
|
||||
def update(self, reading):
|
||||
raise NotImplementedError
|
||||
|
||||
def update_scalar(self, reading):
|
||||
# TODO(mgraczyk): Delete this for speed.
|
||||
# assert np.all(reading.obs_model == [1, 0])
|
||||
|
||||
rcov = reading.covar[0, 0]
|
||||
|
||||
x = self.state
|
||||
S = self.covar
|
||||
|
||||
innovation = reading.data - x[0]
|
||||
innovation_covar = S[0] + rcov
|
||||
|
||||
k0 = S[0] / innovation_covar
|
||||
k1 = S[2] / innovation_covar
|
||||
|
||||
x[0] += k0 * innovation
|
||||
x[1] += k1 * innovation
|
||||
|
||||
mk = 1 - k0
|
||||
S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
|
||||
S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
|
||||
S[0] = mk * mk * S[0] + rcov * k0 * k0
|
||||
|
||||
def predict(self, dt):
|
||||
# State update
|
||||
x = self.state
|
||||
|
||||
x[0] += dt * x[1]
|
||||
|
||||
# P = J*P*J' + Q
|
||||
S = self.covar
|
||||
S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
|
||||
S[2] += dt * S[1]
|
||||
S[1] += self.dtQ1
|
||||
|
||||
# Clip covariance to avoid explosions
|
||||
S = max(-1e10, min(S, 1e10))
|
||||
|
||||
def calc_transfer_fun(self, dt):
|
||||
tf = np.identity(2)
|
||||
tf[0, 1] = dt
|
||||
tfj = tf
|
||||
return tf, tfj
|
||||
@@ -1,3 +0,0 @@
|
||||
# pylint: skip-file
|
||||
from common.kalman.simple_kalman_impl import KF1D as KF1D
|
||||
assert KF1D
|
||||
@@ -1,18 +0,0 @@
|
||||
# cython: language_level = 3
|
||||
|
||||
cdef class KF1D:
|
||||
cdef public:
|
||||
double x0_0
|
||||
double x1_0
|
||||
double K0_0
|
||||
double K1_0
|
||||
double A0_0
|
||||
double A0_1
|
||||
double A1_0
|
||||
double A1_1
|
||||
double C0_0
|
||||
double C0_1
|
||||
double A_K_0
|
||||
double A_K_1
|
||||
double A_K_2
|
||||
double A_K_3
|
||||
@@ -1,37 +0,0 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level=3
|
||||
|
||||
cdef class KF1D:
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x0_0 = x0[0][0]
|
||||
self.x1_0 = x0[1][0]
|
||||
self.A0_0 = A[0][0]
|
||||
self.A0_1 = A[0][1]
|
||||
self.A1_0 = A[1][0]
|
||||
self.A1_1 = A[1][1]
|
||||
self.C0_0 = C[0]
|
||||
self.C0_1 = C[1]
|
||||
self.K0_0 = K[0][0]
|
||||
self.K1_0 = K[1][0]
|
||||
|
||||
self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
|
||||
self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
|
||||
self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
|
||||
self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
|
||||
|
||||
def update(self, meas):
|
||||
cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
|
||||
cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
|
||||
self.x0_0 = x0_0
|
||||
self.x1_0 = x1_0
|
||||
|
||||
return [self.x0_0, self.x1_0]
|
||||
|
||||
@property
|
||||
def x(self):
|
||||
return [[self.x0_0], [self.x1_0]]
|
||||
|
||||
@x.setter
|
||||
def x(self, x):
|
||||
self.x0_0 = x[0][0]
|
||||
self.x1_0 = x[1][0]
|
||||
@@ -1,23 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
class KF1D:
|
||||
# this EKF assumes constant covariance matrix, so calculations are much simpler
|
||||
# the Kalman gain also needs to be precomputed using the control module
|
||||
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x = x0
|
||||
self.A = A
|
||||
self.C = np.atleast_2d(C)
|
||||
self.K = K
|
||||
|
||||
self.A_K = self.A - np.dot(self.K, self.C)
|
||||
|
||||
# K matrix needs to be pre-computed as follow:
|
||||
# import control
|
||||
# (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
|
||||
# self.K = np.transpose(K)
|
||||
|
||||
def update(self, meas):
|
||||
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
|
||||
return self.x
|
||||
@@ -1,87 +0,0 @@
|
||||
import unittest
|
||||
import random
|
||||
import timeit
|
||||
import numpy as np
|
||||
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from common.kalman.simple_kalman_old import KF1D as KF1D_old
|
||||
|
||||
|
||||
class TestSimpleKalman(unittest.TestCase):
|
||||
def setUp(self):
|
||||
dt = 0.01
|
||||
x0_0 = 0.0
|
||||
x1_0 = 0.0
|
||||
A0_0 = 1.0
|
||||
A0_1 = dt
|
||||
A1_0 = 0.0
|
||||
A1_1 = 1.0
|
||||
C0_0 = 1.0
|
||||
C0_1 = 0.0
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
self.kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
C=[C0_0, C0_1],
|
||||
K=[[K0_0], [K1_0]])
|
||||
|
||||
def test_getter_setter(self):
|
||||
self.kf.x = [[1.0], [1.0]]
|
||||
self.assertEqual(self.kf.x, [[1.0], [1.0]])
|
||||
|
||||
def update_returns_state(self):
|
||||
x = self.kf.update(100)
|
||||
self.assertEqual(x, self.kf.x)
|
||||
|
||||
def test_old_equal_new(self):
|
||||
for _ in range(1000):
|
||||
v_wheel = random.uniform(0, 200)
|
||||
|
||||
x_old = self.kf_old.update(v_wheel)
|
||||
x = self.kf.update(v_wheel)
|
||||
|
||||
# Compare the output x, verify that the error is less than 1e-4
|
||||
np.testing.assert_almost_equal(x_old[0], x[0])
|
||||
np.testing.assert_almost_equal(x_old[1], x[1])
|
||||
|
||||
def test_new_is_faster(self):
|
||||
setup = """
|
||||
import numpy as np
|
||||
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from common.kalman.simple_kalman_old import KF1D as KF1D_old
|
||||
|
||||
dt = 0.01
|
||||
x0_0 = 0.0
|
||||
x1_0 = 0.0
|
||||
A0_0 = 1.0
|
||||
A0_1 = dt
|
||||
A1_0 = 0.0
|
||||
A1_1 = 1.0
|
||||
C0_0 = 1.0
|
||||
C0_1 = 0.0
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
C=[C0_0, C0_1],
|
||||
K=[[K0_0], [K1_0]])
|
||||
"""
|
||||
kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
|
||||
kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
|
||||
self.assertTrue(kf_speed < kf_old_speed / 4)
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -1,12 +1,9 @@
|
||||
import io
|
||||
import os
|
||||
import sys
|
||||
import copy
|
||||
import json
|
||||
import uuid
|
||||
import socket
|
||||
import logging
|
||||
import traceback
|
||||
from threading import local
|
||||
from collections import OrderedDict
|
||||
from contextlib import contextmanager
|
||||
@@ -21,7 +18,7 @@ def json_robust_dumps(obj):
|
||||
|
||||
class NiceOrderedDict(OrderedDict):
|
||||
def __str__(self):
|
||||
return json_robust_dumps(self)
|
||||
return '{'+', '.join("%r: %r" % p for p in self.iteritems())+'}'
|
||||
|
||||
class SwagFormatter(logging.Formatter):
|
||||
def __init__(self, swaglogger):
|
||||
@@ -63,57 +60,10 @@ class SwagFormatter(logging.Formatter):
|
||||
return record_dict
|
||||
|
||||
def format(self, record):
|
||||
if self.swaglogger is None:
|
||||
raise Exception("must set swaglogger before calling format()")
|
||||
return json_robust_dumps(self.format_dict(record))
|
||||
|
||||
class SwagLogFileFormatter(SwagFormatter):
|
||||
def fix_kv(self, k, v):
|
||||
# append type to names to preserve legacy naming in logs
|
||||
# avoids overlapping key namespaces with different types
|
||||
# e.g. log.info() creates 'msg' -> 'msg$s'
|
||||
# log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
|
||||
# because overlapping namespace 'msg' caused problems
|
||||
if isinstance(v, (str, bytes)):
|
||||
k += "$s"
|
||||
elif isinstance(v, float):
|
||||
k += "$f"
|
||||
elif isinstance(v, bool):
|
||||
k += "$b"
|
||||
elif isinstance(v, int):
|
||||
k += "$i"
|
||||
elif isinstance(v, dict):
|
||||
nv = {}
|
||||
for ik, iv in v.items():
|
||||
ik, iv = self.fix_kv(ik, iv)
|
||||
nv[ik] = iv
|
||||
v = nv
|
||||
elif isinstance(v, list):
|
||||
k += "$a"
|
||||
return k, v
|
||||
|
||||
def format(self, record):
|
||||
if isinstance(record, str):
|
||||
v = json.loads(record)
|
||||
else:
|
||||
v = self.format_dict(record)
|
||||
|
||||
mk, mv = self.fix_kv('msg', v['msg'])
|
||||
del v['msg']
|
||||
v[mk] = mv
|
||||
v['id'] = uuid.uuid4().hex
|
||||
|
||||
return json_robust_dumps(v)
|
||||
|
||||
class SwagErrorFilter(logging.Filter):
|
||||
def filter(self, record):
|
||||
return record.levelno < logging.ERROR
|
||||
|
||||
def _tmpfunc():
|
||||
return 0
|
||||
|
||||
def _srcfile():
|
||||
return os.path.normcase(_tmpfunc.__code__.co_filename)
|
||||
_tmpfunc = lambda: 0
|
||||
_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
|
||||
|
||||
class SwagLogger(logging.Logger):
|
||||
def __init__(self):
|
||||
@@ -124,6 +74,28 @@ class SwagLogger(logging.Logger):
|
||||
self.log_local = local()
|
||||
self.log_local.ctx = {}
|
||||
|
||||
def findCaller(self):
|
||||
"""
|
||||
Find the stack frame of the caller so that we can note the source
|
||||
file name, line number and function name.
|
||||
"""
|
||||
# f = currentframe()
|
||||
f = sys._getframe(3)
|
||||
#On some versions of IronPython, currentframe() returns None if
|
||||
#IronPython isn't run with -X:Frames.
|
||||
if f is not None:
|
||||
f = f.f_back
|
||||
rv = "(unknown file)", 0, "(unknown function)"
|
||||
while hasattr(f, "f_code"):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
if filename in (logging._srcfile, _srcfile):
|
||||
f = f.f_back
|
||||
continue
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name)
|
||||
break
|
||||
return rv
|
||||
|
||||
def local_ctx(self):
|
||||
try:
|
||||
return self.log_local.ctx
|
||||
@@ -156,80 +128,15 @@ class SwagLogger(logging.Logger):
|
||||
if args:
|
||||
evt['args'] = args
|
||||
evt.update(kwargs)
|
||||
if 'error' in kwargs:
|
||||
self.error(evt)
|
||||
if 'debug' in kwargs:
|
||||
self.debug(evt)
|
||||
else:
|
||||
self.info(evt)
|
||||
|
||||
def findCaller(self, stack_info=False, stacklevel=1):
|
||||
"""
|
||||
Find the stack frame of the caller so that we can note the source
|
||||
file name, line number and function name.
|
||||
"""
|
||||
f = sys._getframe(3)
|
||||
#On some versions of IronPython, currentframe() returns None if
|
||||
#IronPython isn't run with -X:Frames.
|
||||
if f is not None:
|
||||
f = f.f_back
|
||||
orig_f = f
|
||||
while f and stacklevel > 1:
|
||||
f = f.f_back
|
||||
stacklevel -= 1
|
||||
if not f:
|
||||
f = orig_f
|
||||
rv = "(unknown file)", 0, "(unknown function)", None
|
||||
while hasattr(f, "f_code"):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile: # pylint: disable=comparison-with-callable
|
||||
f = f.f_back
|
||||
continue
|
||||
sinfo = None
|
||||
if stack_info:
|
||||
sio = io.StringIO()
|
||||
sio.write('Stack (most recent call last):\n')
|
||||
traceback.print_stack(f, file=sio)
|
||||
sinfo = sio.getvalue()
|
||||
if sinfo[-1] == '\n':
|
||||
sinfo = sinfo[:-1]
|
||||
sio.close()
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
|
||||
break
|
||||
return rv
|
||||
self.info(evt)
|
||||
|
||||
if __name__ == "__main__":
|
||||
log = SwagLogger()
|
||||
|
||||
stdout_handler = logging.StreamHandler(sys.stdout)
|
||||
stdout_handler.setLevel(logging.INFO)
|
||||
stdout_handler.addFilter(SwagErrorFilter())
|
||||
log.addHandler(stdout_handler)
|
||||
|
||||
stderr_handler = logging.StreamHandler(sys.stderr)
|
||||
stderr_handler.setLevel(logging.ERROR)
|
||||
log.addHandler(stderr_handler)
|
||||
|
||||
log.info("asdasd %s", "a")
|
||||
log.info({'wut': 1})
|
||||
log.warning("warning")
|
||||
log.error("error")
|
||||
log.critical("critical")
|
||||
log.event("test", x="y")
|
||||
|
||||
with log.ctx():
|
||||
stdout_handler.setFormatter(SwagFormatter(log))
|
||||
stderr_handler.setFormatter(SwagFormatter(log))
|
||||
log.bind(user="some user")
|
||||
log.info("in req")
|
||||
print("")
|
||||
log.warning("warning")
|
||||
print("")
|
||||
log.error("error")
|
||||
print("")
|
||||
log.critical("critical")
|
||||
print("")
|
||||
log.event("do_req", a=1, b="c")
|
||||
log.event("do_req")
|
||||
|
||||
@@ -1,22 +1,25 @@
|
||||
def int_rnd(x):
|
||||
return int(round(x))
|
||||
|
||||
def clip(x, lo, hi):
|
||||
return max(lo, min(hi, x))
|
||||
|
||||
|
||||
def interp(x, xp, fp):
|
||||
N = len(xp)
|
||||
|
||||
def get_interp(xv):
|
||||
if not hasattr(x, '__iter__'):
|
||||
hi = 0
|
||||
while hi < N and xv > xp[hi]:
|
||||
while hi < N and x > xp[hi]:
|
||||
hi += 1
|
||||
low = hi - 1
|
||||
return fp[-1] if hi == N and xv > xp[low] else (
|
||||
return fp[-1] if hi == N and x > xp[low] else (
|
||||
fp[0] if hi == 0 else
|
||||
(xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
|
||||
(x - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
|
||||
|
||||
return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
|
||||
|
||||
def mean(x):
|
||||
return sum(x) / len(x)
|
||||
result = []
|
||||
for v in x:
|
||||
hi = 0
|
||||
while hi < N and v > xp[hi]:
|
||||
hi += 1
|
||||
low = hi - 1
|
||||
result.append(fp[-1] if hi == N and v > xp[low] else (fp[
|
||||
0] if hi == 0 else (v - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]
|
||||
) + fp[low]))
|
||||
return result
|
||||
|
||||
305
common/params.py
Normal file → Executable file
305
common/params.py
Normal file → Executable file
@@ -1,24 +1,289 @@
|
||||
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
assert Params
|
||||
assert ParamKeyType
|
||||
assert UnknownKeyName
|
||||
assert put_nonblocking
|
||||
#!/usr/bin/env python
|
||||
"""ROS has a parameter server, we have files.
|
||||
|
||||
The parameter store is a persistent key value store, implemented as a directory with a writer lock.
|
||||
On Android, we store params under params_dir = /data/params. The writer lock is a file
|
||||
"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
|
||||
"<params_dir>/d".
|
||||
|
||||
Each key, value pair is stored as a file with named <key> with contents <value>, located in
|
||||
<params_dir>/d/<key>
|
||||
|
||||
Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
|
||||
Readers who want a consistent snapshot of multiple keys should take the lock.
|
||||
|
||||
Writers should take the lock before modifying anything. Writers should also leave the DB in a
|
||||
consistent state after a crash. The implementation below does this by copying all params to a temp
|
||||
directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
|
||||
before deleting the old <params_dir>/<d> directory.
|
||||
|
||||
Writers that only modify a single key can simply take the lock, then swap the corresponding value
|
||||
file in place without messing with <params_dir>/d.
|
||||
"""
|
||||
import time
|
||||
import os
|
||||
import errno
|
||||
import sys
|
||||
import shutil
|
||||
import fcntl
|
||||
import tempfile
|
||||
from enum import Enum
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
class TxType(Enum):
|
||||
PERSISTANT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_CAR_START = 3
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
keys = {
|
||||
# written: manager
|
||||
# read: loggerd, uploaderd, baseui
|
||||
"DongleId": TxType.PERSISTANT,
|
||||
"AccessToken": TxType.PERSISTANT,
|
||||
"Version": TxType.PERSISTANT,
|
||||
"GitCommit": TxType.PERSISTANT,
|
||||
"GitBranch": TxType.PERSISTANT,
|
||||
# written: baseui
|
||||
# read: ui, controls
|
||||
"IsMetric": TxType.PERSISTANT,
|
||||
"IsRearViewMirror": TxType.PERSISTANT,
|
||||
# written: visiond
|
||||
# read: visiond
|
||||
"CalibrationParams": TxType.PERSISTANT,
|
||||
# written: visiond
|
||||
# read: visiond, ui
|
||||
"CloudCalibration": TxType.PERSISTANT,
|
||||
# written: controlsd
|
||||
# read: radard
|
||||
"CarParams": TxType.CLEAR_ON_CAR_START}
|
||||
|
||||
|
||||
class FileLock(object):
|
||||
def __init__(self, path, create):
|
||||
self._path = path
|
||||
self._create = create
|
||||
self._fd = None
|
||||
|
||||
def acquire(self):
|
||||
self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
|
||||
fcntl.flock(self._fd, fcntl.LOCK_EX)
|
||||
|
||||
def release(self):
|
||||
if self._fd is not None:
|
||||
os.close(self._fd)
|
||||
self._fd = None
|
||||
|
||||
|
||||
class DBAccessor(object):
|
||||
def __init__(self, path):
|
||||
self._path = path
|
||||
self._vals = None
|
||||
|
||||
def keys(self):
|
||||
self._check_entered()
|
||||
return self._vals.keys()
|
||||
|
||||
def get(self, key):
|
||||
self._check_entered()
|
||||
try:
|
||||
return self._vals[key]
|
||||
except KeyError:
|
||||
return None
|
||||
|
||||
def _get_lock(self, create):
|
||||
lock = FileLock(os.path.join(self._path, ".lock"), create)
|
||||
lock.acquire()
|
||||
return lock
|
||||
|
||||
def _read_values_locked(self):
|
||||
"""Callers should hold a lock while calling this method."""
|
||||
vals = {}
|
||||
try:
|
||||
data_path = self._data_path()
|
||||
keys = os.listdir(data_path)
|
||||
for key in keys:
|
||||
with open(os.path.join(data_path, key), "rb") as f:
|
||||
vals[key] = f.read()
|
||||
except (OSError, IOError) as e:
|
||||
# Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
|
||||
# inconsistent state. Either way, return empty.
|
||||
if e.errno == errno.ENOENT:
|
||||
return {}
|
||||
|
||||
return vals
|
||||
|
||||
def _data_path(self):
|
||||
return os.path.join(self._path, "d")
|
||||
|
||||
def _check_entered(self):
|
||||
if self._vals is None:
|
||||
raise Exception("Must call __enter__ before using DB")
|
||||
|
||||
|
||||
class DBReader(DBAccessor):
|
||||
def __enter__(self):
|
||||
try:
|
||||
lock = self._get_lock(False)
|
||||
except OSError as e:
|
||||
# Do not create lock if it does not exist.
|
||||
if e.errno == errno.ENOENT:
|
||||
self._vals = {}
|
||||
return self
|
||||
|
||||
try:
|
||||
# Read everything.
|
||||
self._vals = self._read_values_locked()
|
||||
return self
|
||||
finally:
|
||||
lock.release()
|
||||
|
||||
def __exit__(self, type, value, traceback): pass
|
||||
|
||||
|
||||
class DBWriter(DBAccessor):
|
||||
def __init__(self, path):
|
||||
super(DBWriter, self).__init__(path)
|
||||
self._lock = None
|
||||
self._prev_umask = None
|
||||
|
||||
def put(self, key, value):
|
||||
self._vals[key] = value
|
||||
|
||||
def delete(self, key):
|
||||
self._vals.pop(key, None)
|
||||
|
||||
def __enter__(self):
|
||||
mkdirs_exists_ok(self._path)
|
||||
|
||||
# Make sure we can write and that permissions are correct.
|
||||
self._prev_umask = os.umask(0)
|
||||
|
||||
try:
|
||||
os.chmod(self._path, 0o777)
|
||||
self._lock = self._get_lock(True)
|
||||
self._vals = self._read_values_locked()
|
||||
except:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
raise
|
||||
|
||||
return self
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
self._check_entered()
|
||||
|
||||
try:
|
||||
old_data_path = None
|
||||
new_data_path = None
|
||||
tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
|
||||
try:
|
||||
# Write back all keys.
|
||||
os.chmod(tempdir_path, 0o777)
|
||||
for k, v in self._vals.items():
|
||||
with open(os.path.join(tempdir_path, k), "wb") as f:
|
||||
f.write(v)
|
||||
|
||||
data_path = self._data_path()
|
||||
try:
|
||||
old_data_path = os.path.join(self._path, os.readlink(data_path))
|
||||
except (OSError, IOError) as e:
|
||||
# NOTE(mgraczyk): If other DB implementations have bugs, this could cause
|
||||
# copies to be left behind, but we still want to overwrite.
|
||||
pass
|
||||
|
||||
new_data_path = "{}.link".format(tempdir_path)
|
||||
os.symlink(os.path.basename(tempdir_path), new_data_path)
|
||||
os.rename(new_data_path, data_path)
|
||||
# TODO(mgraczyk): raise useful error when values are bad.
|
||||
except:
|
||||
shutil.rmtree(tempdir_path)
|
||||
if new_data_path is not None:
|
||||
os.remove(new_data_path)
|
||||
raise
|
||||
|
||||
# Keep holding the lock while we clean up the old data.
|
||||
if old_data_path is not None:
|
||||
shutil.rmtree(old_data_path)
|
||||
finally:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
|
||||
# Always release the lock.
|
||||
self._lock.release()
|
||||
self._lock = None
|
||||
|
||||
|
||||
|
||||
class JSDB(object):
|
||||
def __init__(self, fn):
|
||||
self._fn = fn
|
||||
|
||||
def begin(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self._fn)
|
||||
else:
|
||||
return DBReader(self._fn)
|
||||
|
||||
class Params(object):
|
||||
def __init__(self, db='/data/params'):
|
||||
self.env = JSDB(db)
|
||||
|
||||
def _clear_keys_with_type(self, tx_type):
|
||||
with self.env.begin(write=True) as txn:
|
||||
for key in keys:
|
||||
if keys[key] == tx_type:
|
||||
txn.delete(key)
|
||||
|
||||
def manager_start(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def car_start(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
|
||||
|
||||
def get(self, key, block=False):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
while 1:
|
||||
with self.env.begin() as txn:
|
||||
ret = txn.get(key)
|
||||
if not block or ret is not None:
|
||||
break
|
||||
# is polling really the best we can do?
|
||||
time.sleep(0.05)
|
||||
return ret
|
||||
|
||||
def put(self, key, dat):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
with self.env.begin(write=True) as txn:
|
||||
txn.put(key, dat)
|
||||
print "set", key
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
params = Params()
|
||||
if len(sys.argv) == 3:
|
||||
name = sys.argv[1]
|
||||
val = sys.argv[2]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"SET: {name} = {val}")
|
||||
params.put(name, val)
|
||||
elif len(sys.argv) == 2:
|
||||
name = sys.argv[1]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"GET: {name} = {params.get(name)}")
|
||||
if len(sys.argv) > 2:
|
||||
params.put(sys.argv[1], sys.argv[2])
|
||||
else:
|
||||
for k in keys.keys():
|
||||
print(f"GET: {k} = {params.get(k)}")
|
||||
for k in keys:
|
||||
pp = params.get(k)
|
||||
if pp is None:
|
||||
print k, "is None"
|
||||
elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
|
||||
print k, pp
|
||||
else:
|
||||
print k, pp.encode("hex")
|
||||
|
||||
# Test multiprocess:
|
||||
# seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
|
||||
# while python common/params.py DongleId; do sleep 0.05; done
|
||||
|
||||
@@ -1,30 +0,0 @@
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF
|
||||
ALL
|
||||
|
||||
cdef cppclass Params:
|
||||
Params(bool)
|
||||
Params(string)
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string)
|
||||
int remove(string)
|
||||
int put(string, string)
|
||||
int putBool(string, bool)
|
||||
bool checkKey(string)
|
||||
void clearAll(ParamKeyType)
|
||||
|
||||
string get_params_path()
|
||||
@@ -1,111 +0,0 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
|
||||
|
||||
import os
|
||||
import threading
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
cdef class ParamKeyType:
|
||||
PERSISTENT = c_ParamKeyType.PERSISTENT
|
||||
CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
|
||||
ALL = c_ParamKeyType.ALL
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
return v.encode()
|
||||
else:
|
||||
return v
|
||||
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, bool persistent_params=False):
|
||||
if d is None:
|
||||
self.p = new c_Params(persistent_params)
|
||||
else:
|
||||
self.p = new c_Params(<string>d.encode())
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=None):
|
||||
if tx_type is None:
|
||||
tx_type = ParamKeyType.ALL
|
||||
|
||||
self.p.clearAll(tx_type)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
|
||||
if not self.p.checkKey(key):
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
return key
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef bool b = block
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, b)
|
||||
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return None
|
||||
|
||||
if encoding is not None:
|
||||
return val.decode(encoding)
|
||||
else:
|
||||
return val
|
||||
|
||||
def get_bool(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
return self.p.getBool(k)
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
dat = ensure_bytes(dat)
|
||||
self.p.put(k, dat)
|
||||
|
||||
def put_bool(self, key, val):
|
||||
cdef string k = self.check_key(key)
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def delete(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
self.p.remove(k)
|
||||
|
||||
def get_params_path(self):
|
||||
return self.p.get_params_path().decode("utf-8")
|
||||
|
||||
def put_nonblocking(key, val, d=None):
|
||||
def f(key, val):
|
||||
params = Params(d)
|
||||
cdef string k = ensure_bytes(key)
|
||||
params.put(k, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
@@ -1,45 +1,26 @@
|
||||
import time
|
||||
from common.realtime import sec_since_boot
|
||||
|
||||
class Profiler():
|
||||
class Profiler(object):
|
||||
def __init__(self, enabled=False):
|
||||
self.enabled = enabled
|
||||
self.cp = {}
|
||||
self.cp_ignored = []
|
||||
self.iter = 0
|
||||
self.start_time = time.time()
|
||||
self.last_time = self.start_time
|
||||
self.tot = 0.
|
||||
|
||||
def reset(self, enabled=False):
|
||||
self.enabled = enabled
|
||||
self.cp = {}
|
||||
self.cp_ignored = []
|
||||
self.iter = 0
|
||||
self.start_time = time.time()
|
||||
self.cp = []
|
||||
self.start_time = sec_since_boot()
|
||||
self.last_time = self.start_time
|
||||
|
||||
def checkpoint(self, name, ignore=False):
|
||||
# ignore flag needed when benchmarking threads with ratekeeper
|
||||
def checkpoint(self, name):
|
||||
if not self.enabled:
|
||||
return
|
||||
tt = time.time()
|
||||
if name not in self.cp:
|
||||
self.cp[name] = 0.
|
||||
if ignore:
|
||||
self.cp_ignored.append(name)
|
||||
self.cp[name] += tt - self.last_time
|
||||
if not ignore:
|
||||
self.tot += tt - self.last_time
|
||||
tt = sec_since_boot()
|
||||
self.cp.append((name, tt - self.last_time))
|
||||
self.last_time = tt
|
||||
|
||||
def display(self):
|
||||
if not self.enabled:
|
||||
return
|
||||
self.iter += 1
|
||||
print("******* Profiling %d *******" % self.iter)
|
||||
for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
|
||||
if n in self.cp_ignored:
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
else:
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
print("Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
|
||||
print "******* Profiling *******"
|
||||
tot = 0.0
|
||||
for n, ms in self.cp:
|
||||
print "%30s: %7.2f" % (n, ms*1000.0)
|
||||
tot += ms
|
||||
print " TOTAL: %7.2f" % (tot*1000.0)
|
||||
|
||||
|
||||
@@ -1,86 +1,111 @@
|
||||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import time
|
||||
import ctypes
|
||||
import platform
|
||||
import threading
|
||||
import subprocess
|
||||
import multiprocessing
|
||||
from typing import Optional
|
||||
|
||||
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from selfdrive.hardware import PC, TICI, JETSON
|
||||
from cffi import FFI
|
||||
ffi = FFI()
|
||||
ffi.cdef("""
|
||||
|
||||
typedef int clockid_t;
|
||||
struct timespec {
|
||||
long tv_sec; /* Seconds. */
|
||||
long tv_nsec; /* Nanoseconds. */
|
||||
};
|
||||
int clock_gettime (clockid_t clk_id, struct timespec *tp);
|
||||
|
||||
long syscall(long number, ...);
|
||||
|
||||
"""
|
||||
)
|
||||
libc = ffi.dlopen(None)
|
||||
|
||||
|
||||
# time step for each process
|
||||
DT_CTRL = 0.01 # controlsd
|
||||
DT_MDL = 0.05 # model
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
# see <linux/time.h>
|
||||
CLOCK_MONOTONIC_RAW = 4
|
||||
CLOCK_BOOTTIME = 7
|
||||
|
||||
# driver monitoring
|
||||
if TICI:
|
||||
DT_DMON = 0.05
|
||||
if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
|
||||
c_clock_gettime = libc.clock_gettime
|
||||
|
||||
tlocal = threading.local()
|
||||
def clock_gettime(clk_id):
|
||||
if not hasattr(tlocal, 'ts'):
|
||||
tlocal.ts = ffi.new('struct timespec *')
|
||||
|
||||
ts = tlocal.ts
|
||||
|
||||
r = c_clock_gettime(clk_id, ts)
|
||||
if r != 0:
|
||||
raise OSError("clock_gettime")
|
||||
return ts.tv_sec + ts.tv_nsec * 1e-9
|
||||
else:
|
||||
DT_DMON = 0.1
|
||||
# hack. only for OS X < 10.12
|
||||
def clock_gettime(clk_id):
|
||||
return time.time()
|
||||
|
||||
def monotonic_time():
|
||||
return clock_gettime(CLOCK_MONOTONIC_RAW)
|
||||
|
||||
def sec_since_boot():
|
||||
return clock_gettime(CLOCK_BOOTTIME)
|
||||
|
||||
|
||||
class Priority:
|
||||
# CORE 2
|
||||
# - modeld = 55
|
||||
# - camerad = 54
|
||||
CTRL_LOW = 51 # plannerd & radard
|
||||
def set_realtime_priority(level):
|
||||
if os.getuid() != 0:
|
||||
print("not setting priority, not root")
|
||||
return
|
||||
if platform.machine() == "x86_64":
|
||||
NR_gettid = 186
|
||||
elif platform.machine() == "aarch64":
|
||||
NR_gettid = 178
|
||||
else:
|
||||
raise NotImplementedError
|
||||
|
||||
# CORE 3
|
||||
# - boardd = 55
|
||||
CTRL_HIGH = 53
|
||||
tid = libc.syscall(NR_gettid)
|
||||
return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
|
||||
|
||||
|
||||
def set_realtime_priority(level: int) -> None:
|
||||
if JETSON or not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined]
|
||||
|
||||
|
||||
def set_core_affinity(core: int) -> None:
|
||||
if JETSON or not PC:
|
||||
os.sched_setaffinity(0, [core,])
|
||||
|
||||
|
||||
def config_realtime_process(core: int, priority: int) -> None:
|
||||
gc.disable()
|
||||
set_realtime_priority(priority)
|
||||
set_core_affinity(core)
|
||||
|
||||
|
||||
class Ratekeeper:
|
||||
def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
|
||||
class Ratekeeper(object):
|
||||
def __init__(self, rate, print_delay_threshold=0.):
|
||||
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
|
||||
self._interval = 1. / rate
|
||||
self._next_frame_time = sec_since_boot() + self._interval
|
||||
self._print_delay_threshold = print_delay_threshold
|
||||
self._frame = 0
|
||||
self._remaining = 0.0
|
||||
self._remaining = 0
|
||||
self._process_name = multiprocessing.current_process().name
|
||||
|
||||
@property
|
||||
def frame(self) -> int:
|
||||
def frame(self):
|
||||
return self._frame
|
||||
|
||||
@property
|
||||
def remaining(self) -> float:
|
||||
def remaining(self):
|
||||
return self._remaining
|
||||
|
||||
# Maintain loop rate by calling this at the end of each loop
|
||||
def keep_time(self) -> bool:
|
||||
def keep_time(self):
|
||||
lagged = self.monitor_time()
|
||||
if self._remaining > 0:
|
||||
time.sleep(self._remaining)
|
||||
return lagged
|
||||
|
||||
# this only monitor the cumulative lag, but does not enforce a rate
|
||||
def monitor_time(self) -> bool:
|
||||
def monitor_time(self):
|
||||
lagged = False
|
||||
remaining = self._next_frame_time - sec_since_boot()
|
||||
self._next_frame_time += self._interval
|
||||
if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
|
||||
if remaining < -self._print_delay_threshold:
|
||||
print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
|
||||
lagged = True
|
||||
self._frame += 1
|
||||
self._remaining = remaining
|
||||
return lagged
|
||||
|
||||
if __name__ == "__main__":
|
||||
print sec_since_boot()
|
||||
|
||||
@@ -1,52 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class Spinner():
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text: str):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
|
||||
try:
|
||||
self.spinner_proc.stdin.flush()
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
|
||||
def update_progress(self, cur: int, total: int):
|
||||
self.update(str(round(100 * cur / total)))
|
||||
|
||||
def close(self):
|
||||
if self.spinner_proc is not None:
|
||||
try:
|
||||
self.spinner_proc.stdin.close()
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
self.spinner_proc.terminate()
|
||||
self.spinner_proc = None
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
s.update("Spinner text")
|
||||
time.sleep(5.0)
|
||||
print("gone")
|
||||
time.sleep(5.0)
|
||||
@@ -1,73 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
class RunningStat():
|
||||
# tracks realtime mean and standard deviation without storing any data
|
||||
def __init__(self, priors=None, max_trackable=-1):
|
||||
self.max_trackable = max_trackable
|
||||
if priors is not None:
|
||||
# initialize from history
|
||||
self.M = priors[0]
|
||||
self.S = priors[1]
|
||||
self.n = priors[2]
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
else:
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.M = 0.
|
||||
self.S = 0.
|
||||
self.M_last = 0.
|
||||
self.S_last = 0.
|
||||
self.n = 0
|
||||
|
||||
def push_data(self, new_data):
|
||||
# short term memory hack
|
||||
if self.max_trackable < 0 or self.n < self.max_trackable:
|
||||
self.n += 1
|
||||
if self.n == 0:
|
||||
self.M_last = new_data
|
||||
self.M = self.M_last
|
||||
self.S_last = 0.
|
||||
else:
|
||||
self.M = self.M_last + (new_data - self.M_last) / self.n
|
||||
self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
def mean(self):
|
||||
return self.M
|
||||
|
||||
def variance(self):
|
||||
if self.n >= 2:
|
||||
return self.S / (self.n - 1.)
|
||||
else:
|
||||
return 0
|
||||
|
||||
def std(self):
|
||||
return np.sqrt(self.variance())
|
||||
|
||||
def params_to_save(self):
|
||||
return [self.M, self.S, self.n]
|
||||
|
||||
class RunningStatFilter():
|
||||
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
|
||||
self.raw_stat = RunningStat(raw_priors, -1)
|
||||
self.filtered_stat = RunningStat(filtered_priors, max_trackable)
|
||||
|
||||
def reset(self):
|
||||
self.raw_stat.reset()
|
||||
self.filtered_stat.reset()
|
||||
|
||||
def push_and_update(self, new_data):
|
||||
_std_last = self.raw_stat.std()
|
||||
self.raw_stat.push_data(new_data)
|
||||
_delta_std = self.raw_stat.std() - _std_last
|
||||
if _delta_std <= 0:
|
||||
self.filtered_stat.push_data(new_data)
|
||||
else:
|
||||
pass
|
||||
# self.filtered_stat.push_data(self.filtered_stat.mean())
|
||||
|
||||
# class SequentialBayesian():
|
||||
9
common/testing.py
Normal file
9
common/testing.py
Normal file
@@ -0,0 +1,9 @@
|
||||
import os
|
||||
from nose.tools import nottest
|
||||
|
||||
def phone_only(x):
|
||||
if os.path.isfile("/init.qcom.rc"):
|
||||
return x
|
||||
else:
|
||||
return nottest(x)
|
||||
|
||||
@@ -1,64 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class TextWindow:
|
||||
def __init__(self, text):
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text", text],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
|
||||
def get_status(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.poll()
|
||||
return self.text_proc.returncode
|
||||
return None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def close(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.terminate()
|
||||
self.text_proc = None
|
||||
|
||||
def wait_for_exit(self):
|
||||
if self.text_proc is not None:
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
os.system('/data/openpilot/scripts/reset_update.sh')
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
text = """Traceback (most recent call last):
|
||||
File "./controlsd.py", line 608, in <module>
|
||||
main()
|
||||
File "./controlsd.py", line 604, in main
|
||||
controlsd_thread(sm, pm, logcan)
|
||||
File "./controlsd.py", line 455, in controlsd_thread
|
||||
1/0
|
||||
ZeroDivisionError: division by zero"""
|
||||
print(text)
|
||||
|
||||
with TextWindow(text) as s:
|
||||
for _ in range(100):
|
||||
if s.get_status() == 1:
|
||||
print("Got exit button")
|
||||
break
|
||||
time.sleep(0.1)
|
||||
print("gone")
|
||||
@@ -1,27 +0,0 @@
|
||||
import signal
|
||||
|
||||
class TimeoutException(Exception):
|
||||
pass
|
||||
|
||||
class Timeout:
|
||||
"""
|
||||
Timeout context manager.
|
||||
For example this code will raise a TimeoutException:
|
||||
with Timeout(seconds=5, error_msg="Sleep was too long"):
|
||||
time.sleep(10)
|
||||
"""
|
||||
def __init__(self, seconds, error_msg=None):
|
||||
if error_msg is None:
|
||||
error_msg = 'Timed out after {} seconds'.format(seconds)
|
||||
self.seconds = seconds
|
||||
self.error_msg = error_msg
|
||||
|
||||
def handle_timeout(self, signume, frame):
|
||||
raise TimeoutException(self.error_msg)
|
||||
|
||||
def __enter__(self):
|
||||
signal.signal(signal.SIGALRM, self.handle_timeout)
|
||||
signal.alarm(self.seconds)
|
||||
|
||||
def __exit__(self, exc_type, exc_val, exc_tb):
|
||||
signal.alarm(0)
|
||||
@@ -1,6 +0,0 @@
|
||||
Import('env', 'envCython')
|
||||
|
||||
transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
|
||||
Export('transformations')
|
||||
|
||||
envCython.Program('transformations.so', 'transformations.pyx')
|
||||
@@ -1,184 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
import common.transformations.orientation as orient
|
||||
from selfdrive.hardware import TICI
|
||||
|
||||
## -- hardcoded hardware params --
|
||||
eon_f_focal_length = 910.0
|
||||
eon_d_focal_length = 860.0
|
||||
leon_d_focal_length = 650.0
|
||||
tici_f_focal_length = 2648.0
|
||||
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
|
||||
|
||||
eon_f_frame_size = (1164, 874)
|
||||
eon_d_frame_size = (1152, 864)
|
||||
leon_d_frame_size = (816, 612)
|
||||
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
|
||||
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
eon_fcam_intrinsics = np.array([
|
||||
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2],
|
||||
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
eon_intrinsics = eon_fcam_intrinsics # xx
|
||||
|
||||
leon_dcam_intrinsics = np.array([
|
||||
[leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2],
|
||||
[0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
eon_dcam_intrinsics = np.array([
|
||||
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
|
||||
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_fcam_intrinsics = np.array([
|
||||
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2],
|
||||
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_dcam_intrinsics = np.array([
|
||||
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2],
|
||||
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_ecam_intrinsics = tici_dcam_intrinsics
|
||||
|
||||
# aka 'K_inv' aka view_frame_from_camera_frame
|
||||
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
|
||||
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
|
||||
|
||||
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
|
||||
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
|
||||
|
||||
|
||||
if not TICI:
|
||||
FULL_FRAME_SIZE = eon_f_frame_size
|
||||
FOCAL = eon_f_focal_length
|
||||
fcam_intrinsics = eon_fcam_intrinsics
|
||||
else:
|
||||
FULL_FRAME_SIZE = tici_f_frame_size
|
||||
FOCAL = tici_f_focal_length
|
||||
fcam_intrinsics = tici_fcam_intrinsics
|
||||
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
|
||||
|
||||
# device/mesh : x->forward, y-> right, z->down
|
||||
# view : x->right, y->down, z->forward
|
||||
device_frame_from_view_frame = np.array([
|
||||
[ 0., 0., 1.],
|
||||
[ 1., 0., 0.],
|
||||
[ 0., 1., 0.]
|
||||
])
|
||||
view_frame_from_device_frame = device_frame_from_view_frame.T
|
||||
|
||||
|
||||
def get_calib_from_vp(vp):
|
||||
vp_norm = normalize(vp)
|
||||
yaw_calib = np.arctan(vp_norm[0])
|
||||
pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
|
||||
roll_calib = 0
|
||||
return roll_calib, pitch_calib, yaw_calib
|
||||
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
# road : x->forward, y -> left, z->up
|
||||
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
|
||||
view_from_road = view_frame_from_device_frame.dot(device_from_road)
|
||||
return np.hstack((view_from_road, [[0], [height], [0]]))
|
||||
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
|
||||
device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
|
||||
view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
|
||||
return np.hstack((view_from_calib, [[0], [height], [0]]))
|
||||
|
||||
|
||||
def vp_from_ke(m):
|
||||
"""
|
||||
Computes the vanishing point from the product of the intrinsic and extrinsic
|
||||
matrices C = KE.
|
||||
|
||||
The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
|
||||
"""
|
||||
return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
|
||||
|
||||
|
||||
def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
|
||||
e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
|
||||
ke = np.dot(intrinsics, e)
|
||||
return vp_from_ke(ke)
|
||||
|
||||
|
||||
def roll_from_ke(m):
|
||||
# note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
|
||||
return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
|
||||
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
|
||||
|
||||
|
||||
def normalize(img_pts, intrinsics=fcam_intrinsics):
|
||||
# normalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
intrinsics_inv = np.linalg.inv(intrinsics)
|
||||
img_pts = np.array(img_pts)
|
||||
input_shape = img_pts.shape
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
|
||||
img_pts_normalized = img_pts.dot(intrinsics_inv.T)
|
||||
img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
|
||||
return img_pts_normalized[:, :2].reshape(input_shape)
|
||||
|
||||
|
||||
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
|
||||
# denormalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
input_shape = img_pts.shape
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
|
||||
img_pts_denormalized = img_pts.dot(intrinsics.T)
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
|
||||
return img_pts_denormalized[:, :2].reshape(input_shape)
|
||||
|
||||
|
||||
def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
|
||||
# device from ecef frame
|
||||
# device frame is x -> forward, y-> right, z -> down
|
||||
# accepts single pt or array of pts
|
||||
input_shape = pt_ecef.shape
|
||||
pt_ecef = np.atleast_2d(pt_ecef)
|
||||
ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
|
||||
device_from_ecef_rot = ecef_from_device_rot.T
|
||||
pt_ecef_rel = pt_ecef - pos_ecef
|
||||
pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
|
||||
return pt_device.reshape(input_shape)
|
||||
|
||||
|
||||
def img_from_device(pt_device):
|
||||
# img coordinates from pts in device frame
|
||||
# first transforms to view frame, then to img coords
|
||||
# accepts single pt or array of pts
|
||||
input_shape = pt_device.shape
|
||||
pt_device = np.atleast_2d(pt_device)
|
||||
pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
|
||||
|
||||
# This function should never return negative depths
|
||||
pt_view[pt_view[:, 2] < 0] = np.nan
|
||||
|
||||
pt_img = pt_view/pt_view[:, 2:3]
|
||||
return pt_img.reshape(input_shape)[:, :2]
|
||||
|
||||
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
calib_frame_from_ground = np.dot(intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
|
||||
ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
|
||||
camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
|
||||
return camera_frame_from_calib_frame
|
||||
@@ -1,102 +0,0 @@
|
||||
#define _USE_MATH_DEFINES
|
||||
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
#include "coordinates.hpp"
|
||||
|
||||
|
||||
|
||||
double a = 6378137; // lgtm [cpp/short-global-name]
|
||||
double b = 6356752.3142; // lgtm [cpp/short-global-name]
|
||||
double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
|
||||
double e1sq = 6.73949674228 * 0.001;
|
||||
|
||||
|
||||
static Geodetic to_degrees(Geodetic geodetic){
|
||||
geodetic.lat = RAD2DEG(geodetic.lat);
|
||||
geodetic.lon = RAD2DEG(geodetic.lon);
|
||||
return geodetic;
|
||||
}
|
||||
|
||||
static Geodetic to_radians(Geodetic geodetic){
|
||||
geodetic.lat = DEG2RAD(geodetic.lat);
|
||||
geodetic.lon = DEG2RAD(geodetic.lon);
|
||||
return geodetic;
|
||||
}
|
||||
|
||||
|
||||
ECEF geodetic2ecef(Geodetic g){
|
||||
g = to_radians(g);
|
||||
double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
|
||||
double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
|
||||
double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
|
||||
double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
|
||||
return {x, y, z};
|
||||
}
|
||||
|
||||
Geodetic ecef2geodetic(ECEF e){
|
||||
// Convert from ECEF to geodetic using Ferrari's methods
|
||||
// https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
|
||||
double x = e.x;
|
||||
double y = e.y;
|
||||
double z = e.z;
|
||||
|
||||
double r = sqrt(x * x + y * y);
|
||||
double Esq = a * a - b * b;
|
||||
double F = 54 * b * b * z * z;
|
||||
double G = r * r + (1 - esq) * z * z - esq * Esq;
|
||||
double C = (esq * esq * F * r * r) / (pow(G, 3));
|
||||
double S = cbrt(1 + C + sqrt(C * C + 2 * C));
|
||||
double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
|
||||
double Q = sqrt(1 + 2 * esq * esq * P);
|
||||
double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
|
||||
double U = sqrt(pow((r - esq * r_0), 2) + z * z);
|
||||
double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
|
||||
double Z_0 = b * b * z / (a * V);
|
||||
double h = U * (1 - b * b / (a * V));
|
||||
|
||||
double lat = atan((z + e1sq * Z_0) / r);
|
||||
double lon = atan2(y, x);
|
||||
|
||||
return to_degrees({lat, lon, h});
|
||||
}
|
||||
|
||||
LocalCoord::LocalCoord(Geodetic g, ECEF e){
|
||||
init_ecef << e.x, e.y, e.z;
|
||||
|
||||
g = to_radians(g);
|
||||
|
||||
ned2ecef_matrix <<
|
||||
-sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
|
||||
-sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
|
||||
cos(g.lat), 0, -sin(g.lat);
|
||||
ecef2ned_matrix = ned2ecef_matrix.transpose();
|
||||
}
|
||||
|
||||
NED LocalCoord::ecef2ned(ECEF e) {
|
||||
Eigen::Vector3d ecef;
|
||||
ecef << e.x, e.y, e.z;
|
||||
|
||||
Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
|
||||
return {ned[0], ned[1], ned[2]};
|
||||
}
|
||||
|
||||
ECEF LocalCoord::ned2ecef(NED n) {
|
||||
Eigen::Vector3d ned;
|
||||
ned << n.n, n.e, n.d;
|
||||
|
||||
Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
|
||||
return {ecef[0], ecef[1], ecef[2]};
|
||||
}
|
||||
|
||||
NED LocalCoord::geodetic2ned(Geodetic g) {
|
||||
ECEF e = ::geodetic2ecef(g);
|
||||
return ecef2ned(e);
|
||||
}
|
||||
|
||||
Geodetic LocalCoord::ned2geodetic(NED n){
|
||||
ECEF e = ned2ecef(n);
|
||||
return ::ecef2geodetic(e);
|
||||
}
|
||||
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Reference in New Issue
Block a user